Horizontal articulated robot, and method of controlling the same

Patent metadata

Field	Value
Publication number	US-9114539-B2
Application number	US-201414227439-A
Country	US
Kind code	B2
Filing date	Mar 27, 2014
Priority date	Feb 22, 2011
Publication date	Aug 25, 2015
Grant date	Aug 25, 2015

Abstract

A robot includes a first horizontal arm coupled to a base, a second horizontal arm coupled to the base via the first horizontal arm, first and second motors adapted to rotate the respective arms, and first and second encoders adapted to calculate rotational angles and rotational velocities of the respective motors. A first motor control section subtracts first and second angular velocities based on the first and second encoders from a sensor angular velocity detected by an angular sensor, and controls the first motor so that a velocity measurement value obtained by adding a vibration velocity based on a vibration angular velocity as the subtraction result and a first rotational velocity becomes equal to a velocity command value.

First claim

What is claimed is:

1. A horizontal articulated robot comprising:
a base;
a first arm connected to the base;
a first motor that rotates the first arm;
a first velocity measurement section that measures a first rotational velocity of the first motor;
a second arm connected to the first arm;
a second motor that rotates the second arm;
a second velocity measurement section that measures a second rotational velocity of the second motor;
an angular velocity calculation se…

Assignees

• Seiko Epson Corp

Inventors

• Igarashi Katsuji
• Motoyoshi Masaki

Classifications

• B25J9/1641

  Operations & Transport · mapped topic

• B25J19/02

  Operations & Transport · mapped topic

• B25J9/042

  Operations & Transport · mapped topic

• Y10S901/02

  Cross-Sectional Technologies · mapped topic

• G05B2219/41205

  Physics · mapped topic