Vibration measurement method for moving part, vibration measurement method for robot, and control device
AssigneeSeiko Epson Corporation
InventorYukihiro Unno
Life of this patent
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Abstract
A vibration measurement method for a moving part is a vibration measurement method in which vibration of a moving part is measured using a first inertial sensor. The method includes: performing measurement by the first inertial sensor in a state where the moving part is resonating, driven by a drive unit which drives the moving part; and finding a magnitude of vibration of the moving part, based on an output from the first inertial sensor. An example of the moving part may be a plurality of arms or the like provided in such a way as to be able to rotate about a rotation axis.
Claims20
A method of measuring vibration of a robot by causing a processor to execute a process, the method comprising executing on the processor the steps of:
- obtaining a natural frequency of a manipulator of the robot;
- adjusting a number of rotations of a motor of the robot to a first number, the motor being configured to drive the manipulator;
- after the number of rotations of the motor is set to the first number, driving the manipulator by the first number of rotations of the motor so as to vibrationally resonate the manipulator at the natural frequency;
- measuring an angular velocity of the manipulator with a first inertial sensor attached to the manipulator while the manipulator resonates;
- storing the measured angular velocity in association of the resonation of the manipulator in a storage of the robot;
- and
- determining whether the vibration of the manipulator is in a predetermined standard according to the measured angular velocity in association of the resonation of the manipulator;
- wherein when the processor determines that the vibration of the manipulator is outside of the predetermined standard, the robot is classified as a defective robot.
Dependencies are inferred from the claim text.