US 9,844,875 B2Granted

Robot

AssigneeSeiko Epson Corporation

InventorsAkihiro Gomi, Masaki Motoyoshi, Akio Niu

Life of this patent

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Abstract

A robot includes a base, a first arm that rotates around a first rotation axis, a second arm that rotates around a second rotation axis extending in a direction different than the first rotation axis, a third arm that rotates around a third rotation axis extending in a direction parallel to the second rotation axis, a first inertia sensor at the first arm, a second (a) inertia sensor at the third arm, a first angle sensor at a first drive source, a third angle sensor at a third drive source, and the drive sources rotate the respective arms. Angular velocities from the first inertia sensor and the first angle sensor are fed back to a first drive source control unit. Angular velocities from the second (a) inertia sensor and the third angle sensor are fed back to a second drive source control unit.

Claims20

Dependent claims

A robot comprising:

a base;
a first arm that is coupled to the base and is rotated around a first rotation axis, the first rotation axis being arranged normal to an installation surface of the base;
a second arm that is rotated around a second rotation axis in a direction different from the first rotation axis;
a first inertia sensor that is installed at the first arm;
a first drive source that rotates the first arm through a first angular velocity command;
a first angle sensor that detects the rotation angle of the first drive source;
and
a first drive source control unit that feeds back a first correction component, which is derived from a first angular velocity of the first arm around the first rotation axis obtained from the first inertia sensor and a second angular velocity of the first arm around the first rotation axis obtained from the first angle sensor, and controls the first drive source.

5 more elements

Dependencies are inferred from the claim text.

Facts

Application: 14/971,071Filed 16 Dec 2015 · continuation
Priority: JP 2012-19145031 Aug 2012
Published: US 2016/0101521 A114 Apr 2016
Granted: 19 Dec 2017
Term ends: Not estimatedThe source records don’t support an estimate.

Classification16 codes

B25J 9/1651
Characterised by the control loop: acceleration, rate control
B25J 9/1638
Characterised by the control loop: compensation for arm bending/inertia, pay load weight/inertia
B25J 9/1694
Program controls: characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception…
B25J 18/00
Arms

Family

Application14/015,158Parent of this continuation · filed 30 Aug 2013
US 2016/0101521 A1Pre-grant publication · published 14 Apr 2016
US 9,242,377 B2Parent of this continuation
US 2014/0060233 A1Published application
US 9,844,875 B2This patent

From the US filing history. Foreign family members aren’t listed.