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US 2017/0028554 A1Published application
Robot, control apparatus, and robot system
AssigneeSeiko Epson Corporation
InventorsAkihiro GOMI, Shunsuke TOSHIMITSU
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Abstract
A robot includes a robot arm and an inertial sensor provided in the robot arm. The robot arm is controlled using a weighting value for weighting output from the inertial sensor. In at least apart of a range in which the robot arm is movable, the weighting value is a first value when acceleration of the robot arm is first acceleration, and changes from the first value to a second value higher than the first value when the acceleration of the robot arm changes from the first acceleration to second acceleration lower than the first acceleration.
Claims20
A robot comprising:
- a robot arm;
- and
- an inertial sensor provided in the robot arm,
- wherein the robot arm is controlled using a weighting value for weighting output from the inertial sensor, and
- in at least a part of a range in which the robot arm is movable, the weighting value is a first value when an acceleration of the robot arm is a first acceleration, and changes from the first value to a second value higher than the first value when the acceleration of the robot arm changes from the first acceleration to a second acceleration which is lower than the first acceleration.
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Dependencies are inferred from the claim text.