Method of controlling robot and robot
First Claim
1. A method of controlling a robot including a motor, an angular sensor adapted to detect a rotational angle of the motor, an arm connected to the motor, and an inertial sensor attached to the arm, the method comprising:
- calculating a torsional angular velocity of the arm using a difference between an angular velocity detected by the inertial sensor and an angular velocity in an inertial sensor coordinate obtained from angle information detected by the angular sensor;
calculating a correction amount of sensitivity of the inertial sensor using the torsional angular velocity; and
correcting the sensitivity of the inertial sensor using the correction amount.
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Abstract
A method of controlling a robot includes the steps of calculating a torsional angular velocity of an arm using a difference between an angular velocity detected by a gyro sensor and an angular velocity in a gyro sensor coordinate obtained from information detected by a first encoder and a second encoder, calculating a correction amount of a sensitivity error of the gyro sensor using a variation in the torsional angular velocity, and correcting sensitivity of the gyro sensor using the correction amount of the sensitivity error.
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Citations
13 Claims
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1. A method of controlling a robot including a motor, an angular sensor adapted to detect a rotational angle of the motor, an arm connected to the motor, and an inertial sensor attached to the arm, the method comprising:
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calculating a torsional angular velocity of the arm using a difference between an angular velocity detected by the inertial sensor and an angular velocity in an inertial sensor coordinate obtained from angle information detected by the angular sensor; calculating a correction amount of sensitivity of the inertial sensor using the torsional angular velocity; and correcting the sensitivity of the inertial sensor using the correction amount. - View Dependent Claims (2, 3, 4, 5, 6)
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7. A robot comprising:
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a motor; an arm connected to and driven by the motor; an angular sensor adapted to detect a rotational angle of the motor; an inertial sensor attached to the arm; a torsional angular velocity calculation section adapted to calculate a torsional angular velocity of the arm using a difference between an angular velocity detected by the inertial sensor and an angular velocity in an inertial sensor coordinate obtained from information detected by the angular sensor; a sensitivity correction amount calculation section adapted to calculate a sensitivity correction amount of the inertial sensor; a sensitivity correction section adapted to correct sensitivity using the sensitivity correction amount calculated by the sensitivity correction amount calculation section; and a movement determination section adapted to determine movement of the arm.
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8. A method of controlling a robot comprising:
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calculating a velocity of a sensor coordinate system using an acceleration detected by an acceleration sensor; calculating a distortion velocity from a difference between a velocity of a sensor coordinate system detected by a velocity sensor and a velocity of a sensor coordinate system calculated using the acceleration; calculating a correction amount of sensitivity of the acceleration sensor using the distortion velocity; and correcting the sensitivity of the acceleration sensor using the correction amount. - View Dependent Claims (9, 10, 11, 12, 13)
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Specification