US 10,150,215 B2 · Robot control device and robot

Abstract

A robot control device controls the operation of a robot including a base; a robot arm that has at least three links, at least three joint portions, and at least three drive sources; an inertia sensor; and at least three angle sensors. The robot control device includes a first coordinate system vibration calculation unit; a second coordinate system vibration calculation unit; a weighting unit; a third coordinate system vibration calculation unit; a correction value calculation unit that obtains correction values for correcting the respective drive commands of the drive sources based on vibration information in a third coordinate system, and the respective detected results of the angle sensors; and a drive source control unit that controls the operations of the drive sources based on the respective drive commands of the drive sources, the correction values, and the respective detected results of the angle sensors.

Claims20

Dependent claims

A robot comprising:

a base;
a robot arm comprising a first arm that is provided to the base and rotates around a first rotation axis, a second arm that rotates around a second rotation axis in a direction intersecting a direction of the first rotation axis;
and
an inertia sensor that detects an angular velocity or acceleration, and provided to the robot arm;
wherein the robot arm is controlled based on a output from the inertia sensor and a weighting, and
the weighting of a case that the robot arm is a first posture is different from the weighting of a case that the robot arm is a second posture.

3 more elements

Dependencies are inferred from the claim text.

Robot control device and robot

Life of this patent

Robot control device and robot

Life of this patent

Abstract

Claims20