| 摘要 |
<p><P>PROBLEM TO BE SOLVED: To provide a method for controlling a robot that can perform retreat movement by using a gyro-sensor when an encoder fails. <P>SOLUTION: The method for controlling a robot includes: a motor; an angle sensor for detecting a rotation angle of the motor; an arm coupled to the motor; and an inertial sensor mounted to the arm. The method for controlling a robot includes: a step of detecting a failure of the angle sensor during the work operation of the robot; a computing step of determining that the angle sensor has failed when detecting a failure of the angle sensor, and then deciding a retreat movement path of the arm and computing an angular velocity and an angle of the failed angle sensor by using the inertial sensor; and a step of performing the retreat movement according to the retreat movement path based on the computed result obtained in the computing step. <P>COPYRIGHT: (C)2013,JPO&INPIT</p> |
