| 摘要 |
PROBLEM TO BE SOLVED: To provide a robot which can suppress vibration easily and securely in response to a posture of an arm.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 installed on the first arm; a second (a) inertial sensor installed on the third arm; first to third angle sensors; drive sources rotating the respective arms; posture detection means which detects a posture of the third arm based on the second arm and derives a feedback gain; and second drive source control means which controls a second drive source by feeding back a second correction component obtained by multiplying a value subtracting an angular velocity ωA2m and an angular velocity ωA3m from an angular velocity ωA3 or a value derived from the above value by the feedback gain. |
