| 摘要 |
PROBLEM TO BE SOLVED: To provide a robot, which can restrain a correct control from being deteriorated since a controller erroneously recognizes information due to an error of an output of an inertia sensor, a carrying device and a control method using the inertia sensor. SOLUTION: The carrying device includes a moving part, a driving source of the moving part, a position sensor for outputting position information of the driving source, the inertia sensor for outputting inertia force information when the moving part is moved and a control command generating part for outputting a control command for prescribing the movement of the moving part. The carrying device includes a control change determining part for determining whether or not the inertia force information is used and an operation control part for carrying out a first control in accordance with the control command, the position information and the inertia force information when the control change determining part determines that the inertia force information is used, and carries out a second control different from the first control in accordance with the control command and the position information when the control change determining part determines that the inertia force information is not used. COPYRIGHT: (C)2011,JPO&INPIT |
