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

  • US 9,956,689 B2
  • Filed: 12/06/2016
  • Issued: 05/01/2018
  • Est. Priority Date: 08/06/2010
  • Status: Active Grant
First Claim
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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, whereinthe controller performs vibration suppression control based on an output of the inertial sensor and an output of the angular sensor, and the controller performs position control based on the output of the angle sensor.

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