Robot

Patent metadata

Field	Value
Publication number	US-9242377-B2
Application number	US-201314015158-A
Country	US
Kind code	B2
Filing date	Aug 30, 2013
Priority date	Aug 31, 2012
Publication date	Jan 26, 2016
Grant date	Jan 26, 2016

Abstract

A robot includes a base, a first arm that rotates around a first rotation axis, a second arm that rotates around a second rotation axis extending in a direction different than the first rotation axis, a third arm that rotates around a third rotation axis extending in a direction parallel to the second rotation axis, a first inertia sensor at the first arm, a second (a) inertia sensor at the third arm, a first angle sensor at a first drive source, a third angle sensor at a third drive source, and the drive sources rotate the respective arms. Angular velocities from the first inertia sensor and the first angle sensor are fed back to a first drive source control unit. Angular velocities from the second (a) inertia sensor and the third angle sensor are fed back to a second drive source control unit.

First claim

What is claimed is:

1. A robot comprising:
a base;
a first arm that is coupled to the base and rotates with a first rotation axis as an axial center;
a second arm that is coupled to the first arm and rotates with a second rotation axis in a direction different from the first rotation axis as an axial center;
a third arm that rotates with a third rotation axis in a direction parallel to the second rotation axis as an axial center;
a first drive source that rotates the first arm through a first angular velocity command;
a first inertia sensor that is installed at the first arm and detects the angular velocity or acceleration of the first arm around the first rotation axis;
a first angle sensor that detects the rotation angle of the first drive source;
a second drive source that rotates the second arm through a second angular velocity command;
a second angle sensor that detects the rotation angle of the second drive source;
a third drive source that rotates the third arm through a third angular velocity command;
a second inertia sensor that is installed at the third arm and detects the angular velocity or acceleration of the third arm around the second rotation axis;
a third angle sensor that detects the rotation angle of the third drive source;
a first drive source control unit that feeds back a first correction component, which is derived from an angular velocity ωA1 of the first arm around the first rotation axis obtained from the first inertia sensor and an angular velocity ωA1m of the first arm around the first rotation axis obtained from the first angle sensor, and controls the first drive source; and
one of:
a second drive source control unit that feeds back a second correction component, which is derived from an angular velocity ωA3 of the third arm around the second rotation axis obtained from the second inertia sensor, an angular velocity ωA2m of the second arm around the second rotation axis obtained from the second angle sensor, and an angular velocity ωA3m of the third arm around the third rotation axis obtained from the third angle sensor, and controls the second drive source; and
a third drive source control unit that feeds back a third correction component, which is derived from an angular velocity ωA3 of the third arm around the second rotation axis obtained from the second inertia sensor, an angular velocity ωA2m of the second arm around the second rotation axis obtained from the second angle sensor, and an angular velocity ωA3m of the third arm around the third rotation axis obtained from the third angle sensor, and controls the third drive source.

2. The robot according to claim 1 , wherein:
the first drive source control unit feeds back the first angular velocity command by the first correction component obtained by multiplying a value, which is obtained by subtracting the angular velocity ωA1m from the angular velocity ωA1, by a feedback gain; and
the second drive source control unit feeds back the second angular velocity command by the second correction component obtained by multiplying a value, which is obtained by subtracting the angular velocity ωA2m and the angular velocity ωA3m from the angular velocity ωA3, by a feedback gain.

3. The robot according to claim 1 , wherein:
the first drive source control unit feeds back the first angular velocity command by the first correction component obtained by multiplying a value, which is obtained by subtracting the angular velocity ωA1m from the angular velocity ωA1, by a feedback gain; and
the third drive source control unit feeds back the third angular velocity command by the third correction component obtained by multiplying a value, which is obtained by subtracting the angular velocity ωA2m and the angular velocity ωA3m from the angular velocity ωA3, by a feedback gain.

4. A robot comprising:
a base;
a first arm that is coupled to the base and rotates with a first rotation axis as an axial center;
a second arm that is coupled to the first arm and rotates with a second rotation axis extending in a direction different from the first rotation axis as an axial center;
a third arm that rotates with a third rotation axis extending in a direction parallel to the second rotation axis as an axial center;
a first drive source that rotates the first arm through a first angular velocity command;
a first inertia sensor that is installed at the first arm and detects the angular velocity or acceleration of the first arm around the first rotation axis;
a first angle sensor that detects the rotation angle of the first drive source;
a second drive source that rotates the second arm through a second angular velocity command;
a second inertia sensor that is installed at the second arm and detects the angular velocity or acceleration of the second arm around the second rotation axis;
a second angle sensor that detects the rotation angle of the second drive source;
a third drive source that rotates the third arm through a third angular velocity command;
a first drive source control unit that feeds back a first correction component, which is derived from an angular velocity ωA1 of the first arm around the first rotation axis obtained from the first inertia sensor and an angular velocity ωA1m of the first arm around the first rotation axis obtained from a detection result of the first angle sensor, and controls the first drive source; and
one of:
a second drive source control unit that feeds back a second correction component, which is derived from an angular velocity ωA2 of the second arm around the second rotation axis obtained from the second inertia sensor, and an angular velocity ωA2m of the second arm around the second rotation axis obtained from the second angle sensor, and controls the second drive source; and
a third drive source control unit that feeds back a third correction component, which is derived from an angular velocity ωA2 of the second arm around the second rotation axis obtained from the second inertia sensor, an angular velocity ωA2m of the second arm around the second rotation axis obtained from the second angle sensor, and an angular velocity ωA3m of the third arm around the third rotation axis obtained from a third angle sensor that detects the rotation angle of the third drive source, and controls the third drive source.

5. The robot according to claim 4 , wherein:
the first drive source control unit feeds back the first angular velocity command by the first correction component obtained by multiplying a value, which is obtained by subtracting the angular velocity ωA1m from the angular velocity ωA1, by a feedback gain; and
the second drive source control unit feeds back the second angular velocity command by the second correction component obtained by multiplying a value, which is obtained by subtracting the angular velocity ωA2m from the angular velocity ωA2, by a feedback gain.

6. The robot according to claim 4 , wherein:
the first drive source control unit feeds back the first angular velocity command by the first correction component obtained by multiplying a value, which is obtained by subtracting the angular velocity ωA1m from the angular velocity ωA1, by a feedback gain; and
the third drive source control unit feeds back the third angular velocity command by the third correction component obtained by multiplying a value, which is obtained by subtracting the angular velocity ωA2m and the angular velocity ωA3m from the angular velocity ωA2, by a feedback gain.

7. The robot according to claim 1 , wherein:
no inertia sensor is installed at the second arm.

8. The robot according to claim 4 , wherein:
no inertia sensor is installed at the third arm.

9. The robot according to claim 1 ,
wherein the first inerti

Assignees

• Seiko Epson Corp

Inventors

• Gomi Akihiro
• Motoyoshi Masaki
• Niu Akio

Classifications

• B25J9/1638 Primary

  compensation for arm bending/inertia, pay load weight/inertia · CPC title

• G05B2219/39335

  Independent joint control, decentralised · CPC title

• B25J9/1694

  characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion · CPC title

• Y10T74/20329

  Joint between elements · CPC title

• G05B2219/40597

  Measure, calculate angular momentum, gyro of rotating body at end effector · CPC title