Robot system, control apparatus, and control method
AssigneeSeiko Epson Corporation
InventorRyosuke Imai
Life of this patent
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Abstract
A robot system includes a robot having an arm including a first arm coupled to a base and pivoting about a first pivot axis and a second arm coupled to the first arm and pivoting about a second pivot axis parallel to the first pivot axis, and a first motor pivoting the first arm about the first pivot axis, and a control apparatus having a first motor control unit that controls the first motor. The robot has an inertial sensor that detects an angular velocity about a roll axis of the arm or an acceleration in a tangential direction of a circle around the roll axis, and the first motor control unit controls the first motor based on the angular velocity or acceleration.
Claims11
A robot system comprising:
- a robot having a base, an arm including a first arm coupled to the base and pivoting about a first pivot axis and a second arm coupled to the first arm and pivoting about a second pivot axis parallel to the first pivot axis, a first motor pivoting the first arm about the first pivot axis, and a second motor pivoting the second arm about the second pivot axis;
- and
- a control apparatus having a first motor control unit that controls the first motor, wherein
- the robot has an inertial sensor that detects an acceleration in a tangential direction of a circle around a roll axis of the arm, wherein the roll axis corresponds to a longitudinal axis of the second arm orthogonal to the second pivot axis, and
- the first motor control unit controls the first motor based on output from the inertial sensor corresponding to the detected acceleration in the tangential direction of the circle around the roll axis.
A control apparatus controlling a robot having a base, an arm including a first arm coupled to the base and pivoting about a first pivot axis and a second arm coupled to the first arm and pivoting about a second pivot axis parallel to the first pivot axis, a first motor pivoting the first arm about the first pivot axis, and a second motor pivoting the second arm about the second pivot axis, and comprising a first motor control unit that controls the first motor, wherein
- the robot has an inertial sensor that detects an acceleration in a tangential direction of a circle around a roll axis of the arm, wherein the roll axis corresponds to a longitudinal axis of the second arm orthogonal to the second pivot axis, and
- the first motor control unit controls the first motor based on the detected acceleration in the tangential direction of the circle around the roll axis.
A control method of controlling a robot having an arm, a motor pivoting the arm about a pivot axis, and an inertial sensor provided in the arm, comprising:
- a detection step of detecting an acceleration in a tangential direction of a circle around a roll axis of the arm using the inertial sensor, wherein the roll axis corresponds to a longitudinal axis of the arm orthogonal to the pivot axis;
- and
- a control step of controlling the motor based on the detected acceleration in the tangential direction of the circle around the roll axis.
Dependencies are inferred from the claim text.