Robot

摘要

A robot includes a base, first and second arms, first and second drive sources, first and second inertia sensors, and first and second angle sensors. A rotation axis of the first arm and a rotation axis of the second arm are orthogonal to each other. The first inertia sensor is installed at the first arm, and the second inertia sensor is installed at the second arm. The first angle sensor is installed at the first drive source, and the second angle sensor is installed at the second drive source. Angular velocities obtained from the first inertia sensor and the first angle sensor are fed back to a first drive source control unit. Angular velocities obtained from the second inertia sensor and the second angle sensor are fed back to a second drive source control unit.

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 orthogonal to the first 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 arm around the first rotation axis; 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 arm around the second rotation axis; a second angle sensor that detects the rotation angle of the second drive source; a first drive source control unit that feeds back a first correction component, which is derived from an angular velocity ωA1 of the first arm around the first rotation axis obtained from the first inertia sensor and an angular velocity ωA1m of the first arm around the first rotation axis obtained from the first angle sensor, and controls the first drive source; and a second drive source control unit that feeds back a second correction component, which is derived from an angular velocity ωA2 of the second arm around the second rotation axis obtained from the second inertia sensor, and an angular velocity ωA2m of the second arm around the second rotation axis obtained from the second angle sensor, and controls the second drive source.