| 摘要 |
PROBLEM TO BE SOLVED: To provide a robot which can attenuate vibration of an arm in a short period of time.SOLUTION: A robot 1 has a base 3, a body 28 rotatably provided at the base 3, a first arm 16 rotatably connected to the body 28, and a control unit 4 which controls the body 28 and the first arm 16. A body angular velocity detector 7 which detects angular velocity of the body 28 and outputs a body angular velocity signal to the control unit 4 is provided at the body 28. A first arm angular velocity detector 12 which detects angular velocity of the first arm 16 and outputs an arm angular velocity signal to the control unit 4 is provided at the first arm 16. The control unit 4 attenuates vibration of the body 28 with respect to the base 3 using the body angular velocity signal and attenuates vibration of the first arm 16 with respect to the body 28 using the body angular velocity signal and the arm angular velocity signal.SELECTED DRAWING: Figure 1 |
