Control device, robot, and robot system

Patent metadata

Field	Value
Publication number	US-11376745-B2
Application number	US-201916420237-A
Country	US
Kind code	B2
Filing date	May 23, 2019
Priority date	May 28, 2018
Publication date	Jul 5, 2022
Grant date	Jul 5, 2022

Abstract

A control device controlling a robot including a robot arm, a drive section causing the robot arm to pivot around a pivot axis, a shaft that is provided at a position of the robot arm different from the pivot axis and that moves parallel to the pivot axis, and an angular velocity sensor that is provided in the robot arm and that detects angular velocity around an axis orthogonal to an axial direction of the pivot axis and parallel to a plane including the pivot axis and an axis of the shaft, the control device includes a processor that is configured to control the robot, wherein the processor is configured to perform feedback control on the drive section based on the angular velocity.

First claim

What is claimed is:

1. A control device controlling a robot including a robot arm that includes a first arm coupled to a base and a second arm coupled to the first arm, a drive section causing the robot arm to pivot around a pivot axis, a shaft that is provided at a tip portion of the second arm different from the pivot axis and that moves parallel to the pivot axis, and an angular velocity sensor that is provided in the vicinity of the shaft at the tip portion of the second arm and that detects a first angular velocity of the second arm around a first axis orthogonal to an axial direction of the pivot axis and parallel to a plane including the pivot axis and an axis of the shaft, a second angular velocity of the second arm around a second axis parallel to the axial direction of the pivot axis, and a third angular velocity of the second arm around a third axis parallel to the longitudinal direction of the second arm and orthogonal to the first axis and the second axis, the control device comprising:
a processor that is configured to execute computer-executable instructions so as to control the robot,
wherein the processor is configured to perform feedback control on the drive section based on the third angular velocity.

2. The control device according to claim 1 , wherein
the drive section includes
a first motor causing the first arm to pivot around a first pivot axis serving as the pivot axis and
a second motor causing the second arm to pivot around a second pivot axis serving as the pivot axis, and

the processor is configured to perform the feedback control on the second motor based on the third angular velocity.

3. The control device according to claim 1 , wherein
a reference point in movement parallel to the pivot axis is set on the shaft,
the shaft is configured such that a distance between the reference point and a control point changes according to a moving amount in movement parallel to the pivot axis, and
the processor is configured to use information on the distance for the feedback control.

4. The control device according to claim 3 , wherein the processor is configured to input the information on the distance.

5. A robot comprising:
a robot arm that includes a first arm coupled to a base and a second arm coupled to the first arm,
a drive section causing the second arm to pivot around a pivot axis,
a shaft that is provided at a tip portion of the second arm different from the pivot axis and that moves parallel to the pivot axis,
an angular velocity sensor that is provided in the vicinity of the shaft at the tip portion of the second arm and that detects a first angular velocity of the second arm around a first axis orthogonal to an axial direction of the pivot axis and parallel to a plane including the pivot axis and an axis of the shaft, a second angular velocity of the second arm around a second axis parallel to the axial direction of the pivot axis, and a third angular velocity of the second arm around a third axis parallel to the longitudinal direction of the second arm and orthogonal to the first axis and the second axis, and
a processor that is configured to execute computer-executable instructions so as to control the robot,
wherein the processor is configured to perform feedback control on the drive section based on the third angular velocity.

6. The robot according to claim 5 , wherein
the drive section includes
a first motor causing the first arm to pivot around a first pivot axis serving as the pivot axis and
a second motor causing the second arm to pivot around a second pivot axis serving as the pivot axis, and

the processor is configured to perform the feedback control on the second motor based on the third angular velocity.

7. The robot according to claim 5 , wherein
a reference point in movement parallel to the pivot axis is set on the shaft,
the shaft is configured such that a distance between the reference point and a control point changes according to a moving amount in movement parallel to the pivot axis, and
the processor is configured to use information on the distance for the feedback control.

8. The control device according to claim 7 , wherein the processor is configured to input the information on the distance.

9. A robot system comprising:
a robot includes
a robot arm that includes a first arm coupled to a base and a second arm coupled to the first arm,
a drive section causing the robot arm to pivot around a pivot axis,
a shaft that is provided at a tip portion of the second arm different from the pivot axis and that moves parallel to the pivot axis, and
an angular velocity sensor that is provided in the vicinity of the shaft at the tip portion of the second arm and that detects a first angular velocity of the second arm around a first axis orthogonal to an axial direction of the pivot axis and parallel to a plane including the pivot axis and an axis of the shaft; a second angular velocity of the second arm around a second axis parallel to the axial direction of the pivot axis, and a third angular velocity of the second arm around a third axis parallel to the longitudinal direction of the second arm and orthogonal to the first axis and the second axis, and
a control device includes
a processor that is configured to execute computer-executable instructions so as to control the robot,
wherein the processor is configured to perform feedback control on the drive section based on the third angular velocity.

10. The robot system according to claim 9 , wherein
the drive section includes
a first motor causing the first arm to pivot around a first pivot axis serving as the pivot axis and
a second motor causing the second arm to pivot around a second pivot axis serving as the pivot axis, and

the processor is configured to perform the feedback control on the second motor based on the third angular velocity.

11. The robot system according to claim 10 , wherein
a reference point in movement parallel to the pivot axis is set on the shaft,
the shaft is configured such that a distance between the reference point and a control point changes according to a moving amount in movement parallel to the pivot axis, and
the processor is configured to use information on the distance for the feedback control.

12. The robot system according to claim 11 , wherein the processor is configured to input the information on the distance.

13. The robot system according to claim 9 , wherein
a reference point in movement parallel to the pivot axis is set on the shaft,
the shaft is configured such that a distance between the reference point and a control point changes according to a moving amount in movement parallel to the pivot axis, and
the processor is configured to use information on the distance for the feedback control.

14. The robot system according to claim 13 , wherein the processor is configured to input the information on the distance.

Assignees

• Seiko Epson Corp

Inventors

• Imai Ryosuke

Classifications

• B25J13/088 Primary

  with position, velocity or acceleration sensors · CPC title

• B25J9/1661

  characterised by task planning, object-oriented languages · CPC title

• B25J9/044

  with forearm providing vertical linear movement · CPC title

• G05B2219/40301

  Scara, selective compliance assembly robot arm, links, arms in a plane · CPC title

• B25J9/1633

  compliant, force, torque control, e.g. combined with position control · CPC title