US 2019/0337153 A1 · Robot

Abstract

A robot includes a first arm that rotates around the first axis, a second arm that rotates around a second axis in a direction different from the first axis, a third arm that rotates around a third axis parallel to the second axis, a first inertia sensor that is installed at the first arm, a second (a) inertia sensor that is installed at the third arm, first to third angle sensors, a posture detection unit that detects the posture of the third arm with the second arm as a reference and derives a feedback gain, and a second drive source control unit that feeds back a second correction component, which is obtained by multiplying a value, which is obtained by subtracting the angular velocity ωA2m and the angular velocity ωA3m from the angular velocity ωA3, by the feedback gain, and controls the second drive source.

Claims8

Dependent claims

(canceled)

A robot comprising:

a base;
an arm coupling body having a first arm coupled to the base, a second arm coupled to the first arm, a third arm coupled to the second arm, a fourth arm coupled to the third arm, a fifth arm coupled to the fourth arm, and a sixth arm coupled to the fifth arm;
and
a gyroscope sensor provided on at least one of the first arm, the second arm and the third arm, wherein
the first arm is configured to rotate with respect to the base around a first rotation axis,
the second arm is configured to rotate with respect to the first arm around a second rotation axis having a second axis direction different from a first axis direction of the first rotation axis,
the third arm is configured to rotate with respect to the second arm around a third rotation axis having a third axis direction parallel to the second axis direction of the second rotation axis,
the fourth arm is configured to rotate with respect to the third arm around a fourth rotation axis having a fourth axis direction different from the third axis direction of the third rotation axis,
the fifth arm is configured to rotate with respect to the fourth arm around a fifth rotation axis having fifth axis direction different from the fourth axis direction of the fourth rotation axis,
the sixth arm is configured to rotate with respect to the fifth arm around a sixth rotation axis having a sixth axis direction different from the fifth axis direction of the fifth rotation axis, and
a first gain of the gyroscope sensor in a first posture of the arm coupling body is different from a second gain of the gyroscope sensor in a second posture of the arm coupling body.

8 more elements

Dependencies are inferred from the claim text.

Facts

Application

16/512,725Filed 16 Jul 2019

Priority

JP 2012-19145131 Aug 2012

Published

7 Nov 2019

Term ends

Not estimatedThe source records don’t support an estimate.

Classification4 codes

B25J 9/1651
Characterised by the control loop: acceleration, rate control
Y10S 901/09
Arm motion controller: closed loop, sensor feedback controls arm movement
B25J
Manipulators
Y10S
Technical subjects covered by former uspc cross-reference art collections [xracs] and digests

Family

Application14/013,334Continuation · filed 29 Aug 2013

Application15/058,706Continuation · filed 2 Mar 2016

Application16/512,725Continuation

US 10,399,222 B2Related patent

US 11,090,805 B2Related patent

US 2014/0067118 A1Published application

US 2016/0176047 A1Published application

US 9,302,388 B2Related patent

US 2019/0337153 A1This patent

From the US filing history. Foreign family members aren’t listed.

Robot

Life of this patent

Robot

Life of this patent

Abstract

Claims8