Robot

摘要

A robot includes respective arms, respective drive sources, respective angle sensors, respective inertia sensors, a posture detection unit that detects the posture of a third arm, and a second drive source control unit that selects, on the basis of a detection result of the posture detection unit, any one of a second (A) correction component, which is derived from an angular velocity ωA3 of a second axis of a third arm obtained from a third inertia sensor, an angular velocity ωA2m of a second axis of a second arm obtained from a second angle sensor, and an angular velocity ωA3m obtained from a third angle sensor, and a second (B) correction component, which is derived from an angular velocity ωA2 obtained from a second inertia sensor and the angular velocity ωA2m, and feeds back the selected correction component to control the second drive source.

主权项

1. A robot comprising:
a base; a first arm that is coupled to the base and rotates with a first rotation axis as an axial center; a second arm that is coupled to the first arm and rotates with a second rotation axis in a direction different from the first rotation axis as an axial center; a third arm that rotates with a third rotation axis in a direction parallel to the second rotation axis as an axial center; a first drive source that rotates the first arm through a first angular velocity command; a first inertia sensor that is installed at the first arm and detects the angular velocity or acceleration of the first rotation axis of the first arm; a first angle sensor that detects the rotation angle of the first drive source; a second drive source that rotates the second arm through a second angular velocity command; a second inertia sensor that is installed at the second arm and detects the angular velocity or acceleration of the second rotation axis of the second arm; a second angle sensor that detects the rotation angle of the second drive source; a third drive source that rotates the third arm through a third angular velocity command; a third inertia sensor that is installed at the third arm and detects the angular velocity or acceleration of the second rotation axis of the third arm; a third angle sensor that detects the rotation angle of the third drive source; a posture detection unit that detects the posture of the third arm from the second arm as a reference point; a first drive source control unit that feeds back a first correction component, which is derived from an angular velocity ωA1 of the first rotation axis of the first arm obtained from the first inertia sensor and an angular velocity ωA1m of the first rotation axis of the first arm obtained from the first angle sensor, and controls the first drive source; and a second drive source control unit that selects, on the basis of a detection result of the posture detection unit, any one of a second (A) correction component, which is derived from an angular velocity ωA3 of the second rotation axis of the third arm obtained from the third inertia sensor, an angular velocity ωA2m of the second rotation axis of the second arm obtained from the second angle sensor, and an angular velocity ωA3m of the third rotation axis of the third arm obtained from the third angle sensor, and a second (B) correction component, which is derived from an angular velocity ωA2 of the second rotation axis of the second arm obtained from the second inertia sensor and the angular velocity ωA2m, and feeds back the selected correction component to control the second drive source.