ROBOTIC DEVICE, METHOD FOR CONTROLLING ROBOTIC DEVICE, AND COMPUTER PROGRAM

摘要

A robotic device includes a first calculation section adapted to calculate a first angular velocity of a first arm operating due to a first actuator provided with a first angle sensor based on rotational angle detection data of the first angle sensor of the fist actuator, a second calculation section adapted to calculate a second angular velocity of the first arm taking an arm linkage device as an axis based on angular velocity detection data of an inertial sensor provided to the first arm linked via the arm linkage device including the first actuator, which is a calculation object of the first calculation section, and a third calculation section adapted to calculate a torsional angular velocity between the first actuator and the first arm with a low-frequency component eliminated.

主权项

1. A robotic device comprising:
an arm that is rotationally connected to an actuator; an angle sensor that detects a rotational angle of the actuator; an inertial sensor that is provided at the arm and that detects a sensed angular velocity of the arm; and a controller that controls the arm; wherein the controller performs a vibration suppression control based on an output of the inertial sensor, and performs a velocity control based on an output of the angle sensor.