Robot, robot control device, and robot system

摘要

A robot includes a base, a first arm rotatably connected to the base around a first rotating axis, a second arm rotatably connected to the first arm around a second rotating axis, a third arm rotatably connected to the second arm around a third rotating axis, a first angular velocity sensor provided in the first arm and having a first angular velocity detection axis parallel to the first rotating axis, a second angular velocity sensor provided in the second arm and having a second angular velocity detection axis parallel to the second rotating axis, and a third angular velocity sensor provided in the third arm and having a third angular velocity detection axis parallel to the third rotating axis.

主权项

1. A robot comprising:
a base; a first arm rotatably connected to the base around a first rotating axis; a second arm rotatably connected to the first arm around a second rotating axis, the second axis being orthogonal to the first rotating axis; a third arm rotatably connected to the second arm around a third rotating axis, the third axis being parallel to the second rotating axis; a first angular velocity sensor provided in the first arm at a joint between the base and the first arm, the first angular velocity sensor having a first angular velocity detection axis that is parallel to the first rotating axis; a second angular velocity sensor provided in the second arm at a joint between the first arm and the second arm, the second angular velocity sensor having a second angular velocity detection axis that is parallel to the second rotating axis; and a third angular velocity sensor provided in the third arm at a joint between the second arm and the third arm, the third angular velocity sensor having a third angular velocity detection axis that is parallel to the third rotating axis, wherein the first rotating axis is aligned with a normal of an installation surface of the base.