Robotic device, method for controlling robotic device, and computer program

A method for controlling a robotic device that includes:

• an arm that is rotationally connected to an actuator;
• an angle sensor that detects a rotational angle of the actuator;
• an inertial sensor that is provided at the arm and that detects a sensed angular velocity of the arm;
• and
• a controller that controls the arm,
• the method comprising:
• performing vibration suppression control based on an output of the inertial sensor and an output of the angular sensor;
• and
• performing position control based on the output of the angle sensor.

A computer program product embodying computer readable instructions stored on a non-transitory computer readable medium for controlling a robotic device that includes:

• an arm that is rotationally connected to an actuator;
• an angle sensor that detects a rotational angle of the actuator;
• an inertial sensor that is provided at the arm and that detects a sensed angular velocity of the arm;
• and
• a controller that controls the arm,
• the computer program comprising:
• instructions for performing vibration suppression control based on an output of the inertial sensor and an output of the angular sensor;
• and
• instructions for performing position control based on the output of the angle sensor.