| 摘要 |
PROBLEM TO BE SOLVED: To provide a robot capable of suppressing vibration while preventing oscillation of the vibration in a multi-axis robot including a plurality of arms.SOLUTION: A robot includes: a support part (base); a plurality of arms connected as one series from the support part; a driving source for rotating the arms respectively; an inertia sensor for detecting an angular speed of a rotation axis of the arm; a posture detection unit for detecting a posture of the arm; and a driving source control unit which controls a first driving source by performing feedback of a correction component derived from an angular speed detected by the inertia sensor and from an angular speed acquired from an angle sensor installed at the driving source, and which derives a feedback gain of the correction component based on the detection result of the posture detection unit. The driving source control unit adjusts the feedback gain according to the posture of the arm. |
