| 摘要 |
A robot (1) includes a base (11), a first arm (12), a second arm (13), a drive source (401) of the first arm (12), a drive source (402) of the second arm (13), a first inertia sensor (31), a second inertia sensor (32), a first angle sensor (411), and a second angle sensor (412). A rotation axis for the rotation of the first arm (12) and a rotation axis for the rotation of the second arm (13) are made orthogonal to each other. The first inertia sensor (31) is installed at the first arm (12), and the second inertia sensor (32) is installed at the second arm (13). The first angle sensor (411) is installed at the drive source (401) of the first arm (12), and the second angle sensor (412) is installed at the drive source (402) of the second arm (13). Angular velocities obtained from the detection of the first inertia sensor (31) and the first angle sensor (411) are fed back to a first drive source control unit (201). Angular velocities obtained from the detection of the second inertia sensor (32) and the second angle sensor (412) are fed back to a second drive source control unit (202). |
