| 摘要 |
A robot (1) includes a base (11), a first arm (12) that rotates around a first rotation axis (01), a second arm (13) that rotates around a second rotation axis (02) in a direction different from the first rotation axis (O1), a third arm (14) that rotates around a third rotation axis (03) in a direction parallel to the second rotation axis (02), a first inertia sensor (31), a second inertia sensor (32a), a first angle sensor (411), a third angle sensor (413), and drive sources that rotates the respective arms. The first inertia sensor (31) is installed at the first arm (12), and the second inertia sensor (32a) is installed at the third arm (14). The first angle sensor (411) is installed at a first drive source (401), and the third angle sensor (413) is installed at a third drive source (403). 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 (32a) and the third angle sensor (413) are fed back to a second drive source control unit (202). |
