| 摘要 |
A robot includes: 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 rotational operation of the arm; a control conversion determining unit that determines whether the inertial force information is used or not when the driving source is controlled to control operation of the arm; 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, to control the driving source and thus control the operation of the arm, if the control conversion determining unit determines to use the inertial force information, and performs a second control which is different from the first control, based on the control command and the pivot angle information, to control the driving source and thus control the operation of the arm, if the control conversion determining unit determines not to use the inertial force information. |
