| 摘要 |
PROBLEM TO BE SOLVED: To provide a robot which can suppress vibration easily and securely even when the number of used sensors is reduced.SOLUTION: A robot includes a base, a first arm rotating around a first rotating shaft, a second arm rotating around a second rotating shaft in a different direction from the first rotating shaft, a third arm rotating around a third rotating shaft parallel to the second rotating shaft, a first inertial sensor, a second (a) inertial sensor, a first angle sensor, a third angle sensor, and drive sources which rotate the respective arms. The first inertial sensor is installed on the first arm, and the second (a) inertial sensor is installed on the third arm. The first angle sensor is installed on a first drive source, and the third angle sensor is installed on a third drive source. An angular velocity obtained from detection of the first inertial sensor and the first angle sensor is fed back to first drive source control means. An angular velocity obtained from detection of the second (a) inertial sensor and the third angle sensor is fed back to second drive source control means. |
