HORIZONTAL ARTICULATED ROBOT, AND METHOD OF CONTROLLING THE SAME

摘要

A robot includes a first horizontal arm coupled to a base, a second horizontal arm coupled to the base via the first horizontal arm, first and second motors adapted to rotate the respective arms, and first and second encoders adapted to calculate rotational angles and rotational velocities of the respective motors. A first motor control section subtracts first and second angular velocities based on the first and second encoders from a sensor angular velocity detected by an angular sensor, and controls the first motor so that a velocity measurement value obtained by adding a vibration velocity based on a vibration angular velocity as the subtraction result and a first rotational velocity becomes equal to a velocity command value.

主权项

1. A horizontal articulated robot comprising:
a base; a first arm connected to the base; a first motor that rotates the first arm; a first velocity measurement section that measures a first rotational velocity of the first motor; a second arm connected to the first arm; a second motor that rotates the second arm; a second velocity measurement section that measures a second rotational velocity of the second motor; an angular velocity calculation section that calculates a first angular velocity of the first arm from the first rotational velocity, and calculates a second angular velocity of the second arm from the second rotational velocity; an angular velocity sensor attached to the second arm, the angular velocity sensor obtaining a detection value corresponding to detected angular velocity; and a control section that calculates a subtractive value by subtracting the first angular velocity and the second angular velocity from the detection value of the angular velocity sensor, calculates a third rotational velocity of the first motor corresponding to the subtractive value, and controls the first motor by an additional value obtained by adding the first rotational velocity and the third rotational velocity.