ROBOT, CARRIAGE DEVICE, AND CONTROL METHOD USING INERTIA SENSOR

摘要

A robot includes: an arm; a driving source that pivots the arm; an angle sensor that detects a pivot angle and outputs pivot angle information; an inertia sensor that is attached to the arm and outputs inertial force information; a control command generating unit that outputs a control command defining rotational operation of the arm; a control conversion determining unit that determines whether the inertial force information is used when the driving source is controlled; and an arm operation control unit that performs a first control based on the control command, the pivot angle information, and the inertial force information, if the control conversion determining unit determines that the inertial force information should be used, and performs a second control based on the control command and the pivot angle information, if the control conversion determining unit determines that the inertial force information should not be used.

主权项

1. A robot comprising:
an arm with one end pivotally supported; a driving source that pivots the arm; an angle sensor that detects a pivot angle of the driving source and outputs pivot angle information of the driving source; an inertia sensor that is attached to the arm and outputs inertial force information of an inertial force acting on the arm; a control command generating unit that outputs a control command defining a rotational operation of the arm; a control conversion determining unit that determines a weighted constant of the inertial force information when the rotation operation of the arm is controlled by the driving source; and an arm operation control unit that controls the driving source and thus controls the rotation operation of the arm based on the control command, the pivot angle information, and the inertial force information, which is multiplied by the weighted constant, wherein the control conversion determining unit compares the inertial force information with a predetermined inertial force threshold value to determine whether the inertial force information is used for controlling the rotation operation of the arm.