Method of controlling robot and robot
AssigneeSeiko Epson Corporation
InventorsMasaki Motoyoshi, Tomokazu Hirabayashi
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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.
Claims6
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 correction amount of an output from the inertial sensor, the correction amount being based on a calculated torsional angular velocity, the calculated torsional angular velocity being calculated from:
- an angular velocity detected by the inertial sensor;
- and
- an angular velocity obtained from angle information detected by the angular sensor;
- correcting a sensitivity of the inertial sensor based upon the correction amount;
- and
- controlling the arm based upon the correction amount of the output from the inertial sensor.
A robot comprising:
- a motor;
- an arm connected to and driven by the motor;
- an angular sensor configured to detect a rotational angle of the motor;
- and
- an inertial sensor attached to the arm;
- the arm is controlled based on a correction amount of an output from the inertial sensor, the correction amount being based on a calculated torsional angular velocity, the calculated torsional angular velocity being calculated from:
- an angular velocity detected by the inertial sensor;
- and
- an angular velocity obtained from angle information detected by the angular sensor,
- wherein a sensitivity of the inertial sensor is corrected based upon the correction amount.
Dependencies are inferred from the claim text.