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US 9,037,293 B2Granted
Robot
AssigneeSeiko Epson Corporation
InventorsAkihiro Gomi, Akio Niu, Masaki Motoyoshi
Life of this patent
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Abstract
A robot includes a base, first and second arms, first and second drive sources, first and second inertia sensors, and first and second angle sensors. A rotation axis of the first arm and a rotation axis of the second arm are orthogonal to each other. The first inertia sensor is installed at the first arm, and the second inertia sensor is installed at the second arm. The first angle sensor is installed at the first drive source, and the second angle sensor is installed at the second drive source. Angular velocities obtained from the first inertia sensor and the first angle sensor are fed back to a first drive source control unit. Angular velocities obtained from the second inertia sensor and the second angle sensor are fed back to a second drive source control unit.
Claims14
A robot comprising:
- a base;
- a first arm that is coupled to the base and rotates with a first rotation axis as an axial center;
- a second arm that is coupled to the first arm and rotates with a second rotation axis in a direction orthogonal to the first rotation axis as an axial center;
- a first drive source that rotates the first arm through a first angular velocity command;
- a first inertia sensor that is installed at the first arm and detects the angular velocity or acceleration of the first arm around the first rotation axis;
- a first angle sensor that detects the rotation angle of the first drive source;
- a second drive source that rotates the second arm through a second angular velocity command;
- a second inertia sensor that is installed at the second arm and detects the angular velocity or acceleration of the second arm around the second rotation axis;
- a second angle sensor that detects the rotation angle of the second drive source;
- a first drive source control unit that feeds back a first correction component, which is derived from an angular velocity ωA1 of the first arm around the first rotation axis obtained from the first inertia sensor and an angular velocity ωA1m of the first arm around the first rotation axis obtained from the first angle sensor, and controls the first drive source;
- and
- a second drive source control unit that feeds back a second correction component, which is derived from an angular velocity ωA2 of the second arm around the second rotation axis obtained from the second inertia sensor, and an angular velocity ωA2m of the second arm around the second rotation axis obtained from the second angle sensor, and controls the second drive source.
9 more elements
A robot comprising:
- a base;
- a first arm that is coupled to the base and rotates with a first rotation axis as an axial center;
- a second arm that is coupled to the first arm and rotates with a second rotation axis in a direction orthogonal to the first rotation axis as an axial center;
- a third arm that rotates with a third rotation axis in a direction parallel to the second rotation axis as an axial center;
- a first drive source that rotates the first arm through a first angular velocity command;
- a first inertia sensor that is installed at the first arm and detects the angular velocity or acceleration of the first arm around the first rotation axis;
- a first angle sensor that detects the rotation angle of the first drive source;
- a second drive source that rotates the second arm through a second angular velocity command;
- a second inertia sensor that is installed at the second arm and detects the angular velocity or acceleration of the second arm around the second rotation axis;
- a second angle sensor that detects the rotation angle of the second drive source;
- a third drive source that rotates the third arm through a third angular velocity command;
- a third inertia sensor that is installed at the third arm and detects the angular velocity or acceleration of the third arm around the second rotation axis;
- a third angle sensor that detects the rotation angle of the third drive source;
- a first drive source control unit that feeds back a first correction component, which is derived from an angular velocity ωA1 of the first arm around the first rotation axis obtained from the first inertia sensor and an angular velocity ωA1m of the first arm around the first rotation axis obtained from the first angle sensor, and controls the first drive source;
- a second drive source control unit that feeds back a second correction component, which is derived from an angular velocity ωA3 of the third arm around the second rotation axis obtained from the third inertia sensor, an angular velocity ωA2m of the second arm around the second rotation axis obtained from the second angle sensor, and an angular velocity ωA3m of the third arm around the third rotation axis obtained from the third angle sensor, and controls the second drive source;
- and
- a third drive source control unit that feeds back a third correction component, which is derived from an angular velocity ωA2 of the second arm around the second rotation axis obtained from the second inertia sensor, the angular velocity ωA3, and the angular velocity ωA3m, and controls the third drive source.
14 more elements
A robot comprising:
- a base;
- a first arm that is coupled to the base and rotates with a first rotation axis as an axial center;
- a second arm that is coupled to the first arm and rotates with a second rotation axis in a direction orthogonal to the first rotation axis as an axial center;
- a third arm that rotates with a third rotation axis in a direction parallel to the second rotation axis as an axial center;
- a first drive source that rotates the first arm through a first angular velocity command;
- a first inertia sensor that is installed at the first arm and detects the angular velocity or acceleration of the first arm around the first rotation axis;
- a first angle sensor that detects the rotation angle of the first drive source;
- a second drive source that rotates the second arm through a second angular velocity command;
- a second inertia sensor that is installed at the second arm and detects the angular velocity or acceleration of the second arm around the second rotation axis;
- a second angle sensor that detects the rotation angle of the second drive source;
- a third drive source that rotates the third arm through a third angular velocity command;
- a third inertia sensor that is installed at the third arm and detects the angular velocity or acceleration of the third arm around the second rotation axis;
- a third angle sensor that detects the rotation angle of the third drive source;
- an angle detection unit that detects the arm angle formed between a longitudinal axis of the second arm and a longitudinal axis of the third arm;
- a first drive source control unit that feeds back a first correction component, which is derived from an angular velocity ωA1 of the first arm around the first rotation axis of obtained from the first inertia sensor and an angular velocity ωA1m of the first arm around the first rotation axis obtained from the first angle sensor, and controls the first drive source;
- a second drive source control unit that feeds back either a value which is derived from an angular velocity ωA3 of the third arm around the second rotation axis obtained from the third inertia sensor, an angular velocity ωA2m of the second arm around the second rotation axis obtained from the second angle sensor, and an angular velocity ωA3m of the third arm around the third rotation axis obtained from the third angle sensor, or a value which is derived from an angular velocity ωA2 of the second arm around the second rotation axis obtained from the second inertia sensor, and the angular velocity ωA2m, as a second correction component according to the arm angle, and controls the second drive source;
- and
- a third drive source control unit that feeds back a third correction component, which is derived from the angular velocity ωA2, the angular velocity ωA3, and the angular velocity ωA3m, and controls the third drive source.
15 more elements
A robot comprising:
- a base;
- a first arm that is coupled to the base and rotates with a first rotation axis as an axial center;
- a second arm that rotates with a second rotation axis orthogonal to the first rotation axis as an axial center;
- a first inertia sensor that detects the angular velocity or acceleration of the first arm;
- a first angle sensor that detects the rotation angle of a first drive source of the first arm;
- a second inertia sensor that detects the angular velocity or acceleration of the second arm;
- a second angle sensor that detects the rotation angle of a second drive source of the second arm;
- a first control unit of the first drive source of the first arm that feeds back an angular velocity derived from a detection result of the first angle sensor and an angular velocity detected from the first inertia sensor;
- and
- a second control unit of the second drive source of the second arm that feeds back an angular velocity derived from a detection result of the second angle sensor and an angular velocity detected from the second inertia sensor.
7 more elements
Dependencies are inferred from the claim text.