ROBOT, ROBOT CONTROL DEVICE, AND ROBOT SYSTEM

摘要

A robot includes a base, a first arm which is rotatable around a first rotating axis with respect to the base, a second arm which is rotatable around a second rotating axis orthogonal to the first rotating axis, a third arm which is rotatable around a third rotating axis parallel to the second rotating axis, a first angular velocity sensor provided in the first arm, and a second angular velocity sensor provided in the third arm. The angle between a detection axis of the first angular velocity sensor and the first rotating axis is a predetermined first angle. The angle between a detection axis of the second angular velocity sensor and the second rotating axis is a predetermined second angle.

主权项

1. A robot comprising:
a base; an arm that includes a first arm that rotates around a first rotation axis and a second arm that rotates around a second rotation axis extending in a direction different from the first rotation axis; a first position sensor that detects a position of the first arm; and a first inertia sensor that is installed at the first arm; wherein the first arm is coupled to the base and is controlled based on an output from the first position sensor and an output from the first inertia sensor, and a vibration of the arm is suppressed based on the output from the first position sensor and the output from the first inertia sensor.