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US 9,020,638 B2Granted
Position control method and robot
AssigneeSeiko Epson Corporation
InventorIzumi Iida
Life of this patent
Estimating the term…
Abstract
A position control method for controlling a position of a movable portion, includes: performing control of allowing the movable portion to approach a predetermined position by moving the movable portion; and performing control of moving the movable portion to the predetermined position by moving the movable portion and detecting a relative position of the movable portion with respect to the predetermined position by using an imaging unit.
Claims11
A position control method for controlling a position of a movable portion according to instructions from a processor, the position control method comprising:
- causing a movement control unit to move the movable portion from a start position to a target position and operating an imaging unit according to a first instruction from the processor to detect relative position of the movable portion with respect to the target position;
- and
- detecting movement of the movable portion with an inertial sensor and suppressing a first vibration of the movable portion according to a second instruction from the processor,
- wherein at least a part of the first vibration is suppressed when the movable portion is between the start position and the target position.
1 more element
A robot comprising:
- a movable portion;
- an imaging unit that detects a relative position of the movable portion with respect to a target position;
- a movement control unit that moves the movable portion from a start position to the target position by using information on an image captured by the imaging unit;
- an inertial sensor that detects movement of the movable portion;
- and
- a vibration suppressing control unit that suppresses a first vibration of the movable portion based on the detected movement of the movable portion;
- wherein at least a part of the first vibration is suppressed by the vibration suppressing control unit when the movable portion is between the start position and the target position.
4 more elements
Dependencies are inferred from the claim text.