Robot control method and robot
AssigneeSeiko Epson Corporation
InventorRyuichi SATO
Life of this patent
Estimating the term…
Abstract
A control method of a robot, the robot including a first member, a second member connected to the first member, a drive device configured to rotate or slide the second member with respect to the first member, and an end effector connected to the second member, wherein posture of the end effector is changed by drive of the drive device, the robot control method includes detecting, based on an output signal from an inertial sensor disposed on the end effector, a gravity influence amount indicating a degree of influence of gravity received by the end effector, determining, based on the detected gravity influence amount, a drive algorithm for the drive device from among a plurality of drive modes, and driving the drive device by the determined drive algorithm.
Claims8
A robot control method, for a robot including:
- a first member;
- a second member connected to the first member;
- a drive device configured to rotate or slide the second member with respect to the first member;
- and
- an end effector connected to the second member, wherein
- posture of the end effector is changed by drive of the drive device, the robot control method comprising:
- detecting, based on an output signal from an inertial sensor disposed on the end effector, a gravity influence amount indicating a degree of influence of gravity received by the end effector;
- determining, based on the detected gravity influence amount, a drive algorithm for the drive device from among a plurality of drive modes;
- and
- driving the drive device by the determined drive algorithm.
A robot comprising:
- a first member;
- a second member connected to the first member;
- a drive device configured to rotate or slide the second member with respect to the first member;
- an end effector connected to the second member;
- and
- a control device that controls drive of the drive device, wherein
- the control device detects, based on an output signal from an inertial sensor disposed on the end effector, a gravity influence amount indicating a degree of influence of gravity received by the end effector,
- determines, based on the detected gravity influence amount, a drive algorithm for the drive device from among a plurality of drive modes, and
- drives the drive device by the determined drive algorithm.
Dependencies are inferred from the claim text.