Robot, robot control device, and robot system

Patent metadata

Field	Value
Publication number	US-9895800-B2
Application number	US-201615014274-A
Country	US
Kind code	B2
Filing date	Feb 3, 2016
Priority date	Jun 5, 2013
Publication date	Feb 20, 2018
Grant date	Feb 20, 2018

Abstract

A robot includes a base, a first arm which is rotatable around a first rotating axis with respect to the base, a second arm which is rotatable around a second rotating axis orthogonal to the first rotating axis, a third arm which is rotatable around a third rotating axis parallel to the second rotating axis, a first angular velocity sensor provided in the first arm, and a second angular velocity sensor provided in the third arm. The angle between a detection axis of the first angular velocity sensor and the first rotating axis is a predetermined first angle. The angle between a detection axis of the second angular velocity sensor and the second rotating axis is a predetermined second angle.

First claim

What is claimed is:

1. A robot comprising:
a base;
an arm that includes a first arm that rotates around a first rotation axis and a second arm that rotates around a second rotation axis extending in a direction different from the first rotation axis;
a position sensor that is disposed in the base and detects a position of a shaft of a first motor which rotates the first arm; and
a gyro sensor that is installed at the first arm and detects the inertia of the first arm around the first rotating axis; wherein
the first arm is coupled to the base and is controlled based on an output from the gyro sensor, and
a vibration of the arm is suppressed based on the output from the position sensor and the output from the gyro sensor.

2. The robot according to claim 1 , wherein
a vibration of the first arm is suppressed by controlling the first arm based on the output from the position sensor and the output from the gyro sensor.

3. The robot according to claim 1 , wherein
the first rotation axis coincides with a normal of an installation surface of the base.

4. The robot according to claim 2 , wherein
the first rotation axis coincides with a normal of an installation surface of the base.

5. The robot according to claim 1 , wherein
the second rotation axis is perpendicular to the first rotation axis.

6. The robot according to claim 2 , wherein
the second rotation axis is perpendicular to the first rotation axis.

7. The robot according to claim 3 , wherein
the second rotation axis is perpendicular to the first rotation axis.

8. The robot according to claim 4 , wherein
the second rotation axis is perpendicular to the first rotation axis.

9. The robot according to claim 1 , wherein
the first arm is controlled based on a difference between the output from the position sensor and the output from the gyro sensor.

10. The robot according to claim 2 , wherein
the first arm is controlled based on a difference between the output from the position sensor and the output from the gyro sensor.

11. The robot according to claim 3 , wherein
the first arm is controlled based on a difference between the output from the position sensor and the output from the gyro sensor.

12. The robot according to claim 4 , wherein
the first arm is controlled based on a difference between the output from the position sensor and the output from the gyro sensor.

13. The robot according to claim 1 , wherein
the position sensor is disposed in the base; and
the gyro sensor detects the inertia of the first arm around the first rotating axis.

14. The robot according to claim 2 , wherein
the position sensor is disposed in the base; and
the gyro sensor detects the inertia of the first arm around the first rotating axis.

15. The robot according to claim 3 , wherein
the position sensor is disposed in the base; and
the gyro sensor detects the inertia of the first arm around the first rotating axis.

16. The robot according to claim 4 , wherein
the position sensor is disposed in the base; and
the gyro sensor detects the inertia of the first arm around the first rotating axis.

17. The robot according to claim 9 , wherein
the position sensor is disposed in the base; and
the gyro sensor detects the inertia of the first arm around the first rotating axis.

18. The robot according to claim 10 , wherein
the position sensor is disposed in the base; and
the gyro sensor detects the inertia of the first arm around the first rotating axis.

19. The robot according to claim 11 , wherein
the position sensor is disposed in the base; and
the gyro sensor detects the inertia of the first arm around the first rotating axis.

20. The robot according to claim 12 , wherein
the position sensor is disposed in the base; and
the gyro sensor detects the inertia of the first arm around the first rotating axis.

Assignees

• Seiko Epson Corp

Inventors

• Asada Atsushi
• Niu Akio
• Hosomi Hiroaki

Classifications

• Y10S901/09

  Closed loop, sensor feedback controls arm movement · CPC title

• B25J9/1628 Primary

  characterised by the control loop · CPC title

• B25J9/04

  by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type · 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

• B25J13/088 Primary

  with position, velocity or acceleration sensors · CPC title