Robot
AssigneeSeiko Epson Corporation
InventorsAkihiro Gomi, Masaki Motoyoshi, Shunsuke Toshimitsu, Akio Niu, Atsushi Asada
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Abstract
A robot includes a plurality of joints including a first joint and a second joint that rotates in a direction different from a rotation direction of the first joint, a plurality of arm members including a first arm member provided to be rotatable with respect to a base via the first joint, and a first angular velocity sensor provided in the first arm member or the first joint. A first inertial sensor is provided in the first arm member (or a portion that rotates together with the first arm member in the first joint). The plurality of joints are controlled on the basis of an output of the first inertial sensor.
Claims9
A robot comprising:
- an arm including a first joint and a second joint that has a rotation axis in a direction different from a direction of a rotation axis of the first joint;
- a controller controlling the movement of the arm;
- and
- a first angular velocity sensor provided to the arm, wherein when the first joint is turned 90° at an angular acceleration of 2200° per second squared, a time until oscillation of a distal end of the arm changes from −0.05 millimeters to +0.05 millimeters is equal to or shorter than one second.
Dependencies are inferred from the claim text.