# US 2016/0161937 A1 · Robot and robot controller > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2016/0161937 A1 - Document ID: US20160161937A1 - Status: Published application - Kind: A1 - Application number: 15/044,471 - Filed: 2016-02-16 - Published: 2016-06-09 - Earliest claimed: 2013-01-28 - Assignees: Seiko Epson Corporation - Applicants: Seiko Epson Corporation - Inventors: Shunsuke TOSHIMITSU; Hiroaki FUJIMORI; Katsuji IGARASHI; Masatoshi ONO; Atsushi ASADA - Web page: https://patentgrep.com/patent/US20160161937A1 ## CPC - G05B 19/19: characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path - B25J 9/1638: {compensation for arm bending/inertia, pay load weight/inertia} - B25J 9/1641: {compensation for backlash, friction, compliance, elasticity in the joints} - B25J 9/1646: {variable structure system, sliding mode control} - G05B 19/404: characterised by control arrangements for compensation, e.g. for backlash, overshoot, tool offset, tool wear, temperature, machine construction errors, load, inertia (G05B19/19, G05B19/41 take precedence) - G05B 2219/42114: Loop mode, dual mode incremental coarse, analog fine - G05B: CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS (systems for controlling or regulating non-electric variables G05D; systems for regulating electric or magnetic variables G05F; control devices or systems insofar as characterised by mechanical features only G05G) - 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 has an operation mode setting unit that sets an operation mode of the robot. The operation mode setting unit changes a correction factor multiplied by the maximum acceleration and the maximum deceleration of an arm and the servo gain of a servo circuit, and thereby selectively sets the operation mode to one of 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. ## Claims ### Claim 1 A robot controller for controlling a robot, the robot having a movable arm and an angular velocity sensor provided at the arm, the robot controller comprising: a servo circuit configured to perform 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, the operation mode including 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 selectively sets the operation mode as one of 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. ### Claim 2 (depends on 1) The robot controller according to claim 1, wherein: in the second operation mode, the maximum acceleration of the arm is set to be 1 to 2 times that in the first operation mode, the maximum deceleration of the arm is set to be 1 to 2 times that in the first operation mode, the correction factor is set to be 0.5 to 2.5 times that in the first operation mode, the 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. ### Claim 3 (depends on 1) The robot controller according to claim 1, wherein a maximum acceleration and a maximum deceleration of the arm in the second operation mode are respectively larger than those in the first operation mode. ### Claim 4 (depends on 1) The robot controller according to claim 1, wherein the correction factor in the second operation mode is larger than that in the first operation mode. ### Claim 5 (depends on 1) The robot controller according to claim 1, wherein a maximum speed of the arm in the second operation mode and the first operation mode are equal. ### Claim 6 (depends on 1) The robot controller according to claim 1 wherein: the servo circuit is configured to control a drive source of the robot by feedback of a correction component derived from the detection results of the angular velocity sensor and a position sensor, the drive source of the robot is configured to move the arm, and the position sensor detects a rotation angle of the drive source, the servo circuit sets the servo gain of the correction component to zero when movement of the arm is stopped, in the third operation mode, when the movement of the arm is stopped and the servo gain of the correction component is set to zero, a time at which the servo gain of the correction component is set to zero is earlier than that in the first operation mode.