Robot

摘要

A robot includes a base, first and second arms, first and second drive sources, first and second inertia sensors, and first and second angle sensors. A rotation axis of the first arm and a rotation axis of the second arm are orthogonal to each other. The first inertia sensor is installed at the first arm, and the second inertia sensor is installed at the second arm. The first angle sensor is installed at the first drive source, and the second angle sensor is installed at the second drive source. Angular velocities obtained from the first inertia sensor and the first angle sensor are fed back to a first drive source control unit. Angular velocities obtained from the second inertia sensor and the second angle sensor are fed back to a second drive source control unit.

主权项

1. A robot comprising:
a base; a first arm that is provided to the base and rotates around a first rotation axis; a second arm that rotates around a second rotation axis in a direction intersecting a direction of the first rotation axis; an inertia sensor that detects an angular velocity or acceleration of the first arm, and is provided on one of a first end or a second end of the first arm; a drive source that rotates the first arm based on an output from the inertia sensor; an angle sensor that detects a rotation angle of the first arm, wherein the drive source rotates the first arm based on an output from the angle sensor; and a control unit of the drive source of the first arm that feeds back an angular velocity detected from the inertia sensor.