Vibration measurement method for moving part, vibration measurement method for robot, and control device
AssigneeSeiko Epson Corporation
InventorYukihiro UNNO
Life of this patent
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Abstract
A vibration measurement method for a moving part is a vibration measurement method in which vibration of a moving part is measured using a first inertial sensor. The method includes: performing measurement by the first inertial sensor in a state where the moving part is resonating, driven by a drive unit which drives the moving part; and finding a magnitude of vibration of the moving part, based on an output from the first inertial sensor. An example of the moving part may be a plurality of arms or the like provided in such a way as to be able to rotate about a rotation axis.
Claims12
A vibration measurement method for a moving part in which vibration of a moving part is measured using a first inertial sensor, the method comprising:
- performing measurement by the first inertial sensor in a state where the moving part is resonating, driven by a drive unit which drives the moving part;
- and
- finding a magnitude of vibration of the moving part, based on an output from the first inertial sensor.
A vibration measurement method for a robot in which vibration of a robot is measured using an inertial sensor, the method comprising:
- performing measurement by the inertial sensor in a state where the robot is resonating, driven by a drive unit which drives the robot;
- and
- finding a magnitude of vibration of the robot, based on an output from the inertial sensor.
A control device which controls a robot with an arm, the control device comprising:
- a computing unit which finds a magnitude of vibration of the arm, based on an output from an inertial sensor provided in the arm, in a state where the arm is resonating.
Dependencies are inferred from the claim text.