Control device, robot, and robot system
AssigneeSeiko Epson Corporation
InventorRyosuke Imai
Life of this patent
Estimating the term…
Abstract
A control device controlling a robot including a robot arm, a drive section causing the robot arm to pivot around a pivot axis, a shaft that is provided at a position of the robot arm different from the pivot axis and that moves parallel to the pivot axis, and an angular velocity sensor that is provided in the robot arm and that detects angular velocity around an axis orthogonal to an axial direction of the pivot axis and parallel to a plane including the pivot axis and an axis of the shaft, the control device includes a processor that is configured to control the robot, wherein the processor is configured to perform feedback control on the drive section based on the angular velocity.
Claims14
A control device controlling a robot including a robot arm that includes a first arm coupled to a base and a second arm coupled to the first arm, a drive section causing the robot arm to pivot around a pivot axis, a shaft that is provided at a tip portion of the second arm different from the pivot axis and that moves parallel to the pivot axis, and an angular velocity sensor that is provided in the vicinity of the shaft at the tip portion of the second arm and that detects a first angular velocity of the second arm around a first axis orthogonal to an axial direction of the pivot axis and parallel to a plane including the pivot axis and an axis of the shaft, a second angular velocity of the second arm around a second axis parallel to the axial direction of the pivot axis, and a third angular velocity of the second arm around a third axis parallel to the longitudinal direction of the second arm and orthogonal to the first axis and the second axis, the control device comprising:
- a processor that is configured to execute computer-executable instructions so as to control the robot,
- wherein the processor is configured to perform feedback control on the drive section based on the third angular velocity.
A robot comprising:
- a robot arm that includes a first arm coupled to a base and a second arm coupled to the first arm,
- a drive section causing the second arm to pivot around a pivot axis,
- a shaft that is provided at a tip portion of the second arm different from the pivot axis and that moves parallel to the pivot axis,
- an angular velocity sensor that is provided in the vicinity of the shaft at the tip portion of the second arm and that detects a first angular velocity of the second arm around a first axis orthogonal to an axial direction of the pivot axis and parallel to a plane including the pivot axis and an axis of the shaft, a second angular velocity of the second arm around a second axis parallel to the axial direction of the pivot axis, and a third angular velocity of the second arm around a third axis parallel to the longitudinal direction of the second arm and orthogonal to the first axis and the second axis, and
- a processor that is configured to execute computer-executable instructions so as to control the robot,
- wherein the processor is configured to perform feedback control on the drive section based on the third angular velocity.
A robot system comprising:
- a robot includes
- a robot arm that includes a first arm coupled to a base and a second arm coupled to the first arm,
- a drive section causing the robot arm to pivot around a pivot axis,
- a shaft that is provided at a tip portion of the second arm different from the pivot axis and that moves parallel to the pivot axis, and
- an angular velocity sensor that is provided in the vicinity of the shaft at the tip portion of the second arm and that detects a first angular velocity of the second arm around a first axis orthogonal to an axial direction of the pivot axis and parallel to a plane including the pivot axis and an axis of the shaft;
- a second angular velocity of the second arm around a second axis parallel to the axial direction of the pivot axis, and a third angular velocity of the second arm around a third axis parallel to the longitudinal direction of the second arm and orthogonal to the first axis and the second axis, and
- a control device includes
- a processor that is configured to execute computer-executable instructions so as to control the robot,
- wherein the processor is configured to perform feedback control on the drive section based on the third angular velocity.
Dependencies are inferred from the claim text.