Robot and noise removing method for the robot
AssigneeSeiko Epson Corporation
InventorShigenori Sasai
Life of this patent
Estimating the term…
Abstract
A robot includes: an arm driven by a motor; an angle sensor that detects a pivoting angle of the motor; an inertia sensor that detects an inertial force acting on the arm; a noise detecting unit that detects a noise frequency of the inertia sensor from both an output of the angle sensor and an output of the inertia sensor; a filter-constant determining unit that determines a characteristic of a filter from information of the noise detecting unit; and the filter that removes noise of the inertia sensor on the basis of the filter-constant determining unit.
Claims11
A robot comprising:
- an arm;
- an arm coupling section connected to the arm and including a driving source that pivots or translates the arm;
- a base connected to the arm coupling section;
- an angle sensor that detects a pivoting angle of the driving source;
- an inertia sensor that is attached to the arm and detects an inertial force acting on the arm;
- a noise filter that removes noise from an output of the inertia sensor;
- a control unit that controls a pivoting action of the arm;
- a noise detecting unit that detects a noise frequency of the inertia sensor from an output of the angle sensor and the output of the inertia sensor;
- and
- a filter-constant determining unit that determines, using the noise frequency, a noise filter characteristic of the noise filter for removing noise.
A robot comprising:
- an arm body to which plural arms and plural arm coupling sections connected to the arms and including driving sources that pivot or translate the arms are alternately coupled;
- a base connected to the arm body;
- plural angle sensors that detect pivoting angles of the driving sources;
- plural inertia sensors that detect inertial forces acting on the arms;
- plural noise filters that remove noise from outputs of the inertia sensors;
- a control unit that controls pivoting actions of the arms;
- a noise detecting unit that detects noise frequencies of the plural inertia sensors from outputs of the plural angle sensors and the outputs of the plural inertia sensors;
- and
- a filter-constant determining unit that determines, using the noise frequencies, noise filter characteristics of the noise filters for removing noise.
A noise removing method for a robot comprising:
- detecting a pivoting angle of a driving source;
- detecting, using an inertia sensor, an inertial force acting on an arm;
- detecting a noise frequency of the inertia sensor using a signal of the detected pivoting angle and a signal of the detected inertial force;
- determining a noise filter characteristic for removing noise from the detected information;
- and
- removing noise with a noise filter based on the noise filter characteristic.
Dependencies are inferred from the claim text.