Robot and robot controller

A robot controller comprising:

• a movable arm;
• a drive source that moves the arm;
• an angular velocity sensor provided in the arm;
• a position sensor configured to detect a rotation angle of the drive source;
• a servo circuit that performs vibration suppression control based on a detection result of the angular velocity sensor;
• and
• an operation mode setting unit that sets an operation mode of the robot,
• wherein the operation mode includes:
• a first operation mode;
• a second operation mode prioritizing speed;
• and
• a third operation mode prioritizing vibration suppression.

The robot controller according to claim. 12, wherein the servo circuit controls operation of the drive source based on detection results of the angular velocity sensor and the position sensor,

• in the second operation mode, a maximum acceleration of the arm is set to be 1 to 2 times that in the first operation mode, a maximum deceleration of the arm is set to be 1 to 2 times that in the first operation mode, a correction factor is set to be 0.5 to 2.5 times that in the first operation mode, a servo gain is set to be equal to that in the first operation mode, and a cycle time as a time taken when the arm performs a predetermined test operation is 90% or less than that in the first operation mode, and
• in the third operation mode, the maximum acceleration of the arm is set to be 0.5 to 1.5 times that in the first operation mode, the maximum deceleration of the arm is set to be 0.5 to 1.5 times that in the first operation mode, the correction factor is set to be 0.5 to 1.5 times that in the first operation mode, the servo gain is set to be 0.5 to 1.5 times that in the first operation mode, and, when the arm performs the predetermined test operation and is displaced to a target position, an excessive amount of passage from position as an amount of shift when the arm first passes the target position and shifts from the target position is 0.5 times or less than that in the first operation mode or 30 μm or less.

A robot comprising:

• a rotatable arm;
• a drive source that rotates the arm;
• an angular velocity sensor provided in the arm;
• a position sensor configured to detect a rotation angle of the drive source;
• a servo circuit that performs vibration suppression control based on a detection result of the angular velocity sensor;
• and
• an operation mode setting unit that sets an operation mode of the robot,
• wherein the operation mode setting unit changes a correction factor multiplied by a maximum acceleration value and a maximum deceleration value of the arm and a servo gain of the servo circuit, and accordingly selectively sets an operation mode of the robot, the operation mode including:
• a first operation mode;
• a second operation mode in which the arm operates faster than in the first operation mode;
• and
• a third operation mode in which the arm vibrates less than in the first operation mode.

A method of controlling a robot including a movable arm, a drive source that moves the arm, an angular velocity sensor associated with the arm;

• a position sensor that detects a rotation angle of the drive source, an operation mode setting unit that sets an operation mode of the robot, and a servo circuit that performs vibration suppression control based on a detection result of the angular velocity sensor the method comprising:
• setting the operation mode to one of:
• a first operation mode;
• a second operation mode prioritizing speed;
• and
• a third operation mode prioritizing vibration suppression,
• wherein the operation mode setting unit changes a correction factor multiplied by a maximum acceleration and a maximum deceleration of the arm and a servo gain of the servo circuit, and accordingly selectively sets the operation mode as the first operation mode, the second operation mode in which the arm operates faster than in the first operation mode, and the third operation mode in which the arm vibrates less than in the first operation mode.