Robot, control device, and robot system
AssigneeSeiko Epson Corporation
InventorMasaki MOTOYOSHI
Life of this patent
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Abstract
When a robot in which a first arm is rotatably provided at a base via abase joint portion and the first arm is provided with a first joint portion including a plurality of joints is controlled, a first inertial force is detected on a tip side of the first arm, and a base-side inertial force is detected on a base side of the first arm. The first joint portion of the first arm is controlled on the basis of the base-side inertial force and the first inertial force. If this is the case, since the first joint portion can be controlled using not only the inertial force (first inertial force) on the tip side of the first arm but also the inertial force (base-side inertial force) on the base side of the first arm.
Claims9
A robot comprising:
- a base;
- a first arm that is rotatably provided with respect to the base via a base joint portion and has a first joint portion including a plurality of joints;
- a base-side inertial sensor that is provided closer to a tip side of the first arm than the base joint portion and closer to a base side of the first arm than the first joint portion and detects an inertial force;
- a first inertial sensor that is provided closer to the tip side of the first arm than the first joint portion and detects an inertial force;
- and
- a controller that controls the first joint portion on the basis of a base-side inertial force detected by the base-side inertial sensor and a first inertial force detected by the first inertial sensor.
A control device for a robot including a first arm that is rotatably provided with respect to a base via a base joint portion and has a first joint portion including a plurality of joints, the control device comprising:
- a base-side inertial sensor that is provided closer to a tip side of the first arm than the base joint portion and closer to a base side of the first arm than the first joint portion and detects an inertial force;
- and
- a first inertial sensor that is provided closer to the tip side of the first arm than the first joint portion and detects an inertial force,
- wherein the control device controls the first joint portion on the basis of a base-side inertial force detected by the base-side inertial sensor and a first inertial force detected by the first inertial sensor.
A robot system comprising:
- a robot;
- and
- a control device that controls the robot,
- wherein the robot includes:
- a base;
- a first arm that is rotatably provided with respect to the base via a base joint portion and has a first joint portion including a plurality of joints;
- a base-side inertial sensor that is provided closer to a tip side of the first arm than the base joint portion and closer to a base side of the first arm than the first joint portion and detects an inertial force;
- and
- a first inertial sensor that is provided closer to the tip side of the first arm than the first joint portion and detects an inertial force, and
- wherein the control device is a control device that controls the first joint portion on the basis of a base-side inertial force detected by the base-side inertial sensor and a first inertial force detected by the first inertial sensor.
Dependencies are inferred from the claim text.