JP2013099806A5 - - Google Patents
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- JP2013099806A5 JP2013099806A5 JP2011244218A JP2011244218A JP2013099806A5 JP 2013099806 A5 JP2013099806 A5 JP 2013099806A5 JP 2011244218 A JP2011244218 A JP 2011244218A JP 2011244218 A JP2011244218 A JP 2011244218A JP 2013099806 A5 JP2013099806 A5 JP 2013099806A5
- Authority
- JP
- Japan
- Prior art keywords
- angular velocity
- main body
- arm
- robot
- rotatably connected
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Claims (7)
前記基台に回動可能に接続された本体部と、
前記本体部に回動可能に接続された第１腕部と、
前記本体部に設けられた第１角速度検出器と、を備え、
前記第１角速度検出器からの出力に基づいて、前記本体部の振動を制御することを特徴とするロボット。 The base,
A main body part rotatably connected to the base;
A first arm portion rotatably connected to the main body portion ;
Includes a first angular velocity detector mounted on the front Stories body portion,
On the basis of the output from the first angular velocity detector, the robot and controlling the vibration of the main body portion.
前記第１腕部に設けられた第２角速度検出器と、を備えることを特徴とするロボット。 And a second angular velocity detector provided on the first arm.
前記第１角速度検出器からの出力と、前記第２角速度検出器からの出力とに基づいて、前記第１腕部の振動を制御することを特徴とするロボット。 A robot that controls vibration of the first arm portion based on an output from the first angular velocity detector and an output from the second angular velocity detector.
前記第２角速度検出器は、３軸ジャイロセンサーであることを特徴とするロボット。 The robot according to claim 2 or 3 , wherein
The second angular velocity detector, a robot, which is a three-axis gyro sensor.
前記本体部に回動可能に接続された第２腕部と、
前記第２腕部に設けられた第３角速度検出器と、を備え、ことを特徴とするロボット。 The robot according to any one of claims 1 to 4 ,
A second arm portion rotatably connected to the main body portion ;
And a third angular velocity detector provided on the second arm .
前記第１角速度検出器からの出力と、前記第３角速度検出器からの出力とに基づいて、前記第２腕部の振動を制御することを特徴とするロボット。 A robot that controls vibrations of the second arm portion based on an output from the first angular velocity detector and an output from the third angular velocity detector.
前記本体角速度信号を用いて前記基台に対する前記本体部の振動を減衰させ、前記本体角速度信号と前記腕角速度信号との差分を示す差分角速度信号を算出し、前記差分角速度信号を用いて前記本体部に対する前記腕部の振動を減衰させる振動減衰工程と、を有することを特徴とするロボットの制御方法。 Detecting the angular velocity of the main body unit rotatably connected to the base, outputting a main body angular velocity signal indicating the angular velocity of the main body unit, and detecting the angular velocity of the arm unit rotatably connected to the main body unit Angular velocity detection step of outputting an arm angular velocity signal indicating the angular velocity of the arm portion,
The main body angular velocity signal is used to attenuate vibration of the main body with respect to the base, a differential angular velocity signal indicating a difference between the main body angular velocity signal and the arm angular velocity signal is calculated, and the main body angular velocity signal is used. And a vibration attenuating step for attenuating the vibration of the arm with respect to the part.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2011244218A JP5891718B2 (en) | 2011-11-08 | 2011-11-08 | robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2011244218A JP5891718B2 (en) | 2011-11-08 | 2011-11-08 | robot |
Related Child Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP2016026642A Division JP6281583B2 (en) | 2016-02-16 | 2016-02-16 | robot |
Publications (3)
| Publication Number | Publication Date |
|---|---|
| JP2013099806A JP2013099806A (en) | 2013-05-23 |
| JP2013099806A5 true JP2013099806A5 (en) | 2014-12-11 |
| JP5891718B2 JP5891718B2 (en) | 2016-03-23 |
Family
ID=48620983
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP2011244218A Active JP5891718B2 (en) | 2011-11-08 | 2011-11-08 | robot |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP5891718B2 (en) |
Families Citing this family (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP6307835B2 (en) * | 2013-10-28 | 2018-04-11 | セイコーエプソン株式会社 | Robot, robot controller and robot system |
| US9568075B2 (en) | 2013-10-28 | 2017-02-14 | Seiko Epson Corporation | Robot, robot control device, and robot system |
| JP6248544B2 (en) * | 2013-10-30 | 2017-12-20 | セイコーエプソン株式会社 | Robot, control device, robot system |
| JP6255901B2 (en) * | 2013-10-30 | 2018-01-10 | セイコーエプソン株式会社 | Robot control device, robot and robot system |
| JP6314426B2 (en) * | 2013-10-31 | 2018-04-25 | セイコーエプソン株式会社 | Robot control apparatus and robot control method |
| CN104608125B (en) | 2013-11-01 | 2019-12-17 | 精工爱普生株式会社 | Robot, control device, and robot system |
| JP2015134382A (en) * | 2014-01-16 | 2015-07-27 | セイコーエプソン株式会社 | Robot, control device, and robot system |
| JP6314428B2 (en) * | 2013-11-01 | 2018-04-25 | セイコーエプソン株式会社 | Robot, control device and robot system |
| CN104669244A (en) | 2013-12-02 | 2015-06-03 | 精工爱普生株式会社 | Robot |
| JP2015150630A (en) * | 2014-02-13 | 2015-08-24 | セイコーエプソン株式会社 | robot |
| JP2015104789A (en) * | 2013-12-02 | 2015-06-08 | セイコーエプソン株式会社 | Robot |
| JP6455050B2 (en) * | 2014-09-30 | 2019-01-23 | セイコーエプソン株式会社 | robot |
| JP6672636B2 (en) * | 2015-08-24 | 2020-03-25 | 株式会社デンソーウェーブ | Sensor position determination method, robot |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH08161015A (en) * | 1994-12-02 | 1996-06-21 | Ricoh Co Ltd | Driving control method for articulated robot |
| JP5353581B2 (en) * | 2009-09-10 | 2013-11-27 | セイコーエプソン株式会社 | robot |
-
2011
- 2011-11-08 JP JP2011244218A patent/JP5891718B2/en active Active
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