Robotic device, method for controlling robotic device, and computer program

• US 9,545,721 B2
• Filed: 03/19/2015
• Issued: 01/17/2017
• Est. Priority Date: 08/06/2010
• Status: Active Grant

• Current Assignee: Seiko Epson Corporation (Seiko Group)
• Original Assignee: Seiko Epson Corporation (Seiko Group)
• Inventors: Motoyoshi, Masaki
• Primary Examiner(s): Amin, Bhavesh V
• Application Number:
  US14/662,696
• Publication Number:
  US 20150190928A1
• Time in Patent Office: 670 Days
• Field of Search: 700245-264
• US Class Current: 1/1
• CPC Class Codes: B25J 9/1694 characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion

Abstract

A robotic device includes a first calculation section adapted to calculate a first angular velocity of a first arm operating due to a first actuator provided with a first angle sensor based on rotational angle detection data of the first angle sensor of the first actuator, a second calculation section adapted to calculate a second angular velocity of the first arm taking an arm linkage device as an axis based on angular velocity detection data of an inertial sensor provided to the first arm linked via the arm linkage device including the first actuator, which is a calculation object of the first calculation section, and a third calculation section adapted to calculate a torsional angular velocity between the first actuator and the first arm with a low-frequency component eliminated.

Claims

1. A robotic device comprising:

an arm that is rotationally connected to an actuator;

an angle sensor that detects a rotational angle of the actuator;

an inertial sensor that is provided at the arm and that detects a sensed angular velocity of the arm; and

a controller that controls the arm, wherein

the controller performs vibration suppression control based on an output of the inertial sensor and an output of the angular sensor, and the controller performs a velocity control based on the output of the angle sensor.

2. The robotic device according to claim 1, wherein

the controller performs a position control based on the output of the angle sensor.

3. A method for controlling a robotic device that includes:

an arm that is rotationally connected to an actuator;

an angle sensor that detects a rotational angle of the actuator;

an inertial sensor that is provided at the arm and that detects a sensed angular velocity of the arm; and

a controller that controls the arm,

the method comprising;

performing vibration suppression control based on an output of the inertial sensor and an output of the angular sensor; and

performing velocity control based on the output of the angle sensor.

4. The method for controlling a robotic device according to claim 3, further comprising:

performing position control based on the output of the angle sensor.

5. A computer program product embodying computer readable instructions stored on a non-transitory computer readable medium for controlling a robotic device that includes:

an arm that is rotationally connected to an actuator;

an angle sensor that detects a rotational angle of the actuator;

an inertial sensor that is provided at the arm and that detects a sensed angular velocity of the arm; and

a controller that controls the arm,

the computer program comprising;

instructions for performing vibration suppression control based on an output of the inertial sensor and an output of the angular sensor; and

instructions for performing velocity control based on the output of the angle sensor.

6. The computer program product embodying computer readable instructions stored on a non-transitory computer readable medium for controlling a robotic device according to claim 5, further comprising:

instructions for performing position control based on the output of the angle sensor.