Horizontal articulated robot, and method of controlling the same
AssigneeSeiko Epson Corporation
InventorsKatsuji Igarashi, Masaki Motoyoshi
Life of this patent
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Abstract
A robot includes a first horizontal arm coupled to a base, a second horizontal arm coupled to the base via the first horizontal arm, first and second motors adapted to rotate the respective arms, and first and second encoders adapted to calculate rotational angles and rotational velocities of the respective motors. A first motor control section subtracts first and second angular velocities based on the first and second encoders from a sensor angular velocity detected by an angular sensor, and controls the first motor so that a velocity measurement value obtained by adding a vibration velocity based on a vibration angular velocity as the subtraction result and a first rotational velocity becomes equal to a velocity command value.
Claims7
A horizontal articulated robot comprising:
- a base;
- a first arm connected to the base;
- a first motor that rotates the first arm;
- a first velocity measurement section that measures a first rotational velocity of the first motor;
- a second arm connected to the first arm;
- a second motor that rotates the second arm;
- a second velocity measurement section that measures a second rotational velocity of the second motor;
- an angular velocity calculation section that calculates a first angular velocity of the first arm from the first rotational velocity, and calculates a second angular velocity of the second arm from the second rotational velocity;
- a single angular velocity sensor obtaining a detection value corresponding to at least the first angular velocity and the second angular velocity;
- and
- a control section that calculates a subtractive value by subtracting the first angular velocity and the second angular velocity from the detection value of the angular velocity sensor, and controls the first motor based on the first rotational velocity and the subtractive value, wherein
- the single angular velocity sensor is provided for the first and second arms collectively.
A method of controlling a horizontal articulated robot comprising:
- measuring a first rotational velocity of a first motor that rotates a first arm connected to a base;
- measuring a second rotational velocity of a second motor that rotates a second arm connected to the first arm;
- calculating a first angular velocity of the first arm from the first rotational velocity;
- calculating a second angular velocity of the second arm from the second rotational velocity;
- obtaining a detection value corresponding to at least the first angular velocity and the second angular velocity of a single angular velocity sensor;
- calculating a subtractive value by subtracting the first angular velocity and the second angular velocity from the detection value of the angular velocity sensor;
- controlling the first motor based on the first rotational velocity and the subtractive value, wherein
- the single angular velocity sensor is provided for the first and second arms collectively.
Dependencies are inferred from the claim text.