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; an arm comprising a first arm that is provided to the base and rotates around a first rotation axis, a second arm that is provided to the first arm and rotates around a second rotation axis in a direction intersecting a direction of the first rotation axis, a third arm that is provided to the second arm and rotates around a third rotation axis in a direction parallel to a direction of the second rotation axis, a fourth arm that is provided to the third arm and rotates around a fourth rotation axis in a direction intersecting a direction of the third rotation axis, a fifth arm that is provided to the fourth arm and rotates around a fifth rotation axis in a direction intersecting a direction of the fourth rotation axis, and a sixth arm that is provided to the fifth arm and rotates around a sixth rotation axis in a direction intersecting a direction of the fifth rotation axis; and an inertia sensor that detects an angular velocity or acceleration, and provided to at least one of the first arm, the second arm and the third arm; wherein the arm is controlled based on a output from the inertia sensor.