Robot, robot control device, and robot system
AssigneeSeiko Epson Corporation
InventorAkio Niu
Life of this patent
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Abstract
A robot includes: a base; a first arm rotatably coupled to the base about a first axis of rotation; a second arm rotatably coupled to the first arm about a second axis of rotation, the second axis of rotation being an axis perpendicular to the first axis of rotation or being an axis parallel to an axis perpendicular to the first axis of rotation; a third arm rotatably coupled to the second arm about a third axis of rotation, the third axis of rotation being an axis parallel to the second axis of rotation; a first angular velocity sensor installed to the first arm and having an angular velocity detection axis parallel to the first axis of rotation; and a second angular velocity sensor installed to the third arm and having an angular velocity detection axis parallel to the third axis of rotation.
Claims12
A robot comprising:
- a base;
- a first arm rotatably coupled to the base about a first axis of rotation, wherein the first axis of rotation coincides with a line normal to an installation surface of the base;
- a second arm rotatably coupled to the first arm about a second axis of rotation, the second axis of rotation being perpendicular to the first axis of rotation or being parallel to an axis perpendicular to the first axis of rotation;
- a third arm rotatably coupled to the second arm about a third axis of rotation, the third axis of rotation being parallel to the second axis of rotation;
- a first angular velocity sensor installed to the first arm at a joint between the base and the first arm and having an angular velocity detection axis parallel to the first axis of rotation;
- and
- a second angular velocity sensor installed to the third arm at a joint between the second arm and the third arm and having an angular velocity detection axis parallel to the third axis of rotation.
A robot control device controlling operation of a robot including a base, a first arm rotatably coupled to the base about a first axis of rotation, a second arm rotatably coupled to the first arm about a second axis of rotation, the second axis of rotation being perpendicular to the first axis of rotation or being parallel to an axis perpendicular to the first axis of rotation, and a third arm rotatably coupled to the second arm about a third axis of rotation, the third axis of rotation being parallel to the second axis of rotation, the robot control device comprising:
- a reception section receiving a first signal and a second signal, the first signal being output from a first angular velocity sensor, the first angular velocity sensor being installed to the first arm at a joint between the base and the first arm and having an angular velocity detection axis parallel to the first axis of rotation, the second signal being output from a second angular velocity sensor, the second angular velocity sensor being installed to the third arm at a joint between the second arm and the third arm and having an angular velocity detection axis parallel to the third axis of rotation;
- an arithmetic section obtaining, based on the first signal and the second signal received by the reception section, a vibration component of an angular velocity of the first arm and a vibration component of an angular velocity of the third arm;
- and
- a control section controlling the operation of the robot based on the vibration component of the angular velocity of the first arm and the vibration component of the angular velocity of the third arm obtained by the arithmetic section.
Dependencies are inferred from the claim text.