| 摘要 |
PROBLEM TO BE SOLVED: To achieve a method of controlling a robot which improves operation accuracy.SOLUTION: A method of controlling a robot includes steps of: calculating a torsional angular velocity of arms 44, 49 using a difference between an angular velocity detected by a gyro sensor 50 and an angular velocity in a gyro sensor coordinate system obtained from information detected by a first encoder 42 and a second encoder 48; calculating a correction amount of a sensitivity error of the gyro sensor 50 using a variation in the torsional angular velocity; and correcting sensitivity of the gyro sensor 50 using the correction amount of the sensitivity error. Thus, operation accuracy of a robot 10 is improved. |
