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US 9,221,173 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:
- moving the movable portion from a start position to a target position according to a first instruction from the processor;
- and
- suppressing a first vibration of the movable portion based on movement of the movable portion according to a second instruction from the processor, the movement being detected by an inertia sensor,
- 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;
- a movement control unit configured to move the movable portion from a start position to a target position;
- an inertial sensor configured to detect movement of the movable portion;
- and
- a vibration suppressing control unit configured to suppress a first vibration of the movable portion based on the detected movement of the movable portion, the vibration suppressing control unit suppressing at least a part of the first vibration when the movable portion is between the start position and the target position.
2 more elements
Dependencies are inferred from the claim text.