Robot, robot control device, and robot system

摘要

A robot includes: a base; a first arm rotatably coupled to the base about a first axis of rotation; a second arm rotatably coupled to the first arm about a second axis of rotation, the second axis of rotation being an axis perpendicular to the first axis of rotation or being an axis parallel to an axis perpendicular to the first axis of rotation; a third arm rotatably coupled to the second arm about a third axis of rotation, the third axis of rotation being an axis parallel to the second axis of rotation; a first angular velocity sensor installed to the first arm and having an angular velocity detection axis parallel to the first axis of rotation; and a second angular velocity sensor installed to the third arm and having an angular velocity detection axis parallel to the third axis of rotation.

主权项

1. A robot comprising:
a base; a first arm rotatably coupled to the base about a first axis of rotation, wherein the first axis of rotation coincides with a line normal to an installation surface of the base; a second arm rotatably coupled to the first arm about a second axis of rotation, the second axis of rotation being perpendicular to the first axis of rotation or being parallel to an axis perpendicular to the first axis of rotation; a third arm rotatably coupled to the second arm about a third axis of rotation, the third axis of rotation being parallel to the second axis of rotation; a first angular velocity sensor installed to the first arm at a joint between the base and the first arm and having an angular velocity detection axis parallel to the first axis of rotation; and a second angular velocity sensor installed to the third arm at a joint between the second arm and the third arm and having an angular velocity detection axis parallel to the third axis of rotation.