# US 11,440,202 B2 · Robot, control device and control method > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,440,202 B2 - Document ID: US11440202B2 - Status: Granted - Kind: B2 - Application number: 16/517,719 - Filed: 2019-07-22 - Published: 2020-01-23 - Granted: 2022-09-13 - Earliest claimed: 2018-07-23 - Assignees: Seiko Epson Corporation - Applicants: Seiko Epson Corporation - Inventors: Tsutomu Miyamoto; Toshiyuki Kamiya - Web page: https://patentgrep.com/patent/US11440202B2 ## CPC - B25J 13/087: {for sensing other physical parameters, e.g. electrical or chemical properties} - B25J 19/063: {working only upon contact with an outside object} - B25J 9/1674: {characterised by safety, monitoring, diagnostic} - B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50}) ## Abstract A robot includes a robot main body having a platform and a robot arm displaced with respect to the platform, a vibration sensor provided to the robot main body to detect a vibration of the robot main body, a collision detection section configured to detect a collision between the robot main body and a physical object based on an output from the vibration sensor, wherein the collision detection section includes a first detection section configured to detect the collision based on a vibration signal output from the vibration sensor, and a second detection section configured to detect the collision based on an extracted vibration signal obtained by extracting a vibration component with a frequency not lower than a first predetermined value from the vibration signal. ## Claims ### Claim 1 A robot comprising: a robot main body having a platform and a robot arm displaced with respect to the platform; a vibration sensor provided to the robot main body to detect a vibration of the robot main body; and a collision detection section configured to detect a collision between the robot main body and a physical object based on an output from the vibration sensor, wherein the collision detection section includes a first detection section configured to detect the collision based on a vibration signal output from the vibration sensor, and a second detection section configured to detect the collision based on an extracted vibration signal obtained by extracting a vibration component with a frequency not lower than a first predetermined value from the vibration signal, the robot further comprising: a control section configured to control drive of the robot main body, wherein the control section makes a drive limitation provided to the robot main body different between when the first detection section has detected the collision and when the second detection section has detected the collision. ### Claim 2 (depends on 1) The robot according to claim 1, wherein the first detection section determines the collision when the vibration signal is larger than a first threshold value, and the second detection section determines the collision when the extracted vibration signal is larger than a second threshold value. ### Claim 3 (depends on 1) The robot according to claim 1, wherein a detection rate of the vibration sensor is not lower than 10 kHz. ### Claim 4 (depends on 1) The robot according to claim 1, wherein the second detection section extracts a vibration component with a frequency not lower than the first predetermined value and not higher than a second predetermined value higher than the first predetermined value from the vibration signal as the extracted vibration signal. ### Claim 5 A control device configured to control drive of a robot including a robot main body having a platform and a robot arm displaced with respect to the platform, a vibration sensor provided to the robot main body to detect a vibration of the robot main body, and a collision detection section configured to detect a collision between the robot main body and a physical object based on an output from the vibration sensor, wherein the collision detection section includes a first detection section configured to detect the collision based on a vibration signal output from the vibration sensor, and a second detection section configured to detect the collision based on an extracted vibration signal obtained by extracting a vibration component with a frequency not lower than a first predetermined value from the vibration signal, and the control device makes a drive limitation provided to the robot main body different between when the first detection section has detected the collision and when the second detection section has detected the collision. ### Claim 6 A method of controlling drive of a robot including a robot main body having a platform and a robot arm displaced with respect to the platform, and a vibration sensor provided to the robot main body to detect a vibration of the robot main body, the method comprising: detecting a first collision based on a vibration signal output from the vibration sensor; detecting a second collision based on an extracted vibration signal obtained by extracting a vibration component with a frequency not lower than a first predetermined value from the vibration signal; and making a drive limitation provided to the robot main body different between when the first collision has been detected and when the second collision has been detected.