US20160375581A1 - Robot, robot control device, and robot system - Google Patents
Robot, robot control device, and robot system Download PDFInfo
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- US20160375581A1 US20160375581A1 US15/237,004 US201615237004A US2016375581A1 US 20160375581 A1 US20160375581 A1 US 20160375581A1 US 201615237004 A US201615237004 A US 201615237004A US 2016375581 A1 US2016375581 A1 US 2016375581A1
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- angular velocity
- arm
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- rotation
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/1651—Programme controls characterised by the control loop acceleration, rate control
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/088—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/1638—Programme controls characterised by the control loop compensation for arm bending/inertia, pay load weight/inertia
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/37—Measurements
- G05B2219/37347—Speed, velocity
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/39—Robotics, robotics to robotics hand
- G05B2219/39195—Control, avoid oscillation, vibration due to low rigidity
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Manipulator (AREA)
Abstract
A robot includes: a base; a first arm rotatably coupled to the base about a first axis of rotation; a second arm rotatably coupled to the first arm about a second axis of rotation, the second axis of rotation being an axis perpendicular to the first axis of rotation or being an axis parallel to an axis perpendicular to the first axis of rotation; a third arm rotatably coupled to the second arm about a third axis of rotation, the third axis of rotation being an axis parallel to the second axis of rotation; a first angular velocity sensor installed to the first arm and having an angular velocity detection axis parallel to the first axis of rotation; and a second angular velocity sensor installed to the third arm and having an angular velocity detection axis parallel to the third axis of rotation.
Description
- This is a continuation patent application of U.S. application Ser. No. 14/014,964, filed on Aug. 30, 2013, which claims priority to Japanese Patent Application No. 2012-191462, filed on Aug. 31, 2012. Both applications are incorporated by reference herein in their entireties.
- 1. Technical Field
- The present invention relates to a robot, a robot control device, and a robot system.
- 2. Related Art
- JP-A-2011-136395 discloses a robot including a six-axis sensor that is installed to a sixth link at a front end portion, that is, the front-most end side of the robot. The six-axis sensor detects accelerations in the directions of an X-axis, a Y-axis, and a Z-axis perpendicular to one another and accelerations about the X-axis, the Y-axis, and the Z-axis. Based on the detection results of the six-axis sensor, a vibration component of the angular velocity of each link about a desired axis is obtained, and control for suppressing the vibration is performed. The vibration component of the angular velocity of the link is referred to as “torsional angular velocity”, “vibration angular velocity”, or the like.
- In the robot disclosed in JP-A-2011-136395, since the posture of the six-axis sensor is changed due to the motion of the robot, it is necessary to perform coordinate axis transformation or the like, called Jacobi's transformation, to obtain the vibration component of the angular velocity of each link from the detection results of the six-axis sensor. Furthermore, it is necessary to make a calculation according to the rotation angle of a motor changing every moment.
- Because of this, complex and massive arithmetic processing is needed, and a control device having a high-performance and expensive CPU (Central Processing Unit) or the like is needed, leading to a problem of increased cost.
- Moreover, since complex and massive arithmetic processing is needed, an arithmetic error is likely to occur and thus the arithmetic error causes a problem of failing to sufficiently suppress vibration.
- An advantage of some aspects of the invention is to provide a robot that can easily and reliably suppress vibration, a robot control device, and a robot system.
- Such an advantage can be achieved by the following aspects of the invention.
- An aspect of the invention is directed to a robot including: a base; a first arm rotatably coupled to the base about a first axis of rotation; a second arm rotatably coupled to the first arm about a second axis of rotation, the second axis of rotation being an axis perpendicular to the first axis of rotation or being an axis parallel to an axis perpendicular to the first axis of rotation; a third arm rotatably coupled to the second arm about a third axis of rotation, the third axis of rotation being an axis parallel to the second axis of rotation; a first angular velocity sensor installed to the first arm and having an angular velocity detection axis parallel to the first axis of rotation; and a second angular velocity sensor installed to the third arm and having an angular velocity detection axis parallel to the third axis of rotation.
- Due to this, vibration can be easily and reliably suppressed.
- That is, first, the first angular velocity sensor can detect the angular velocity of the first arm. Moreover, since the third axis of rotation is parallel to the second axis of rotation, the second angular velocity sensor can detect the angular velocity of the third arm including the rotation of the second arm. Then, based on these detection results, vibration can be suppressed.
- Even when the posture of the robot is changed, the angular velocity detection axis of the first angular velocity sensor is constant. Because of this, a correction due to the orientation of the first angular velocity sensor does not need to be performed on the angular velocity of the first arm detected by the first angular velocity sensor.
- The third axis of rotation and the second axis of rotation are perpendicular to the first axis of rotation or parallel to an axis perpendicular to the first axis of rotation. Therefore, even when the posture of the robot is changed, for example, even when the first arm rotates or the second arm rotates, the angular velocity detection axis of the second angular velocity sensor is constant. Because of this, a correction due to the orientation of the second angular velocity sensor does not need to be performed on the angular velocity of the third arm detected by the second angular velocity sensor.
- Due to this, a complex and massive arithmetic operation is not needed, whereby an arithmetic error is unlikely to occur, vibration can be reliably suppressed, and a response speed in the control of the robot can be increased.
- The second angular velocity sensor does not detect the angular velocity of the second arm, but rather detects the angular velocity of the third arm including the rotation of the second arm, and therefore vibration can be suppressed more reliably.
- Compared to the case where an angular velocity sensor is also installed to the second arm, the number of angular velocity sensors can be reduced, the cost can be reduced, and the configuration can be simplified.
- In the robot according to the aspect of the invention, it is preferable that the robot further includes: a first angular velocity sensor unit having a first housing, the first angular velocity sensor, and a circuit section, the first angular velocity sensor and the circuit section being disposed in the first housing, the circuit section AD-converting a signal output from the first angular velocity sensor and transmitting the signal; and a second angular velocity sensor unit having a second housing, the second angular velocity sensor, and a circuit section, the second angular velocity sensor and the circuit section being disposed in the second housing, the circuit section AD-converting a signal output from the second angular velocity sensor and transmitting the signal, that the first angular velocity sensor unit is installed to the first arm, and that the second angular velocity sensor unit is installed to the third arm.
- Due to this, compared to the case where the circuit section is separately disposed, the configuration can be simplified.
- In the robot according to the aspect of the invention, it is preferable that the first housing and the second housing each have an outer shape of a rectangular parallelepiped, that the angular velocity detection axis of the first angular velocity sensor coincides with a first line normal to a largest surface of the rectangular parallelepiped of the first housing, and that the angular velocity detection axis of the second angular velocity sensor coincides with a second line normal to a largest surface of the rectangular parallelepiped of the second housing.
- Due to this, directions of the angular velocity detection axis of the first angular velocity sensor and the angular velocity detection axis of the second angular velocity sensor can be easily and reliably recognized, and thus the first angular velocity sensor and the second angular velocity sensor can easily take a proper posture.
- In the robot according to the aspect of the invention, it is preferable that the first housing has a mount portion mounted to the first arm at a corner of the first housing, and that the second housing has a mount portion mounted to the third arm at a corner of the second housing.
- Due to this, the first angular velocity sensor unit can be reliably mounted to the first arm, and the second angular velocity sensor unit can be reliably mounted to the third arm.
- In the robot according to the aspect of the invention, it is preferable that a first fixing member having conductivity and fixing the mount portion of the first housing to the first arm is provided and the circuit section of the first angular velocity sensor unit is grounded to the first arm through the fixing member, and that a second fixing member having conductivity and fixing the mount portion of the second housing to the third arm is provided and the circuit section of the second angular velocity sensor unit is grounded to the third arm through the fixing member.
- Due to this, the number of components can be reduced, and the configuration can be simplified.
- In the robot according to the aspect of the invention, it is preferable that the first arm has a case and an arm-side mount portion formed integrally with the case, and that the first angular velocity sensor unit is directly mounted to the arm-side mount portion.
- Due to this, the first angular velocity sensor unit can reliably rotate integrally with the first arm.
- In the robot according to the aspect of the invention, it is preferable that the third arm has a case and an arm-side mount portion formed integrally with the case, and that the second angular velocity sensor unit is directly mounted to the arm-side mount portion.
- Due to this, the second angular velocity sensor unit can reliably rotate integrally with the third arm.
- In the robot according to the aspect of the invention, it is preferable to install a cable in the first arm that supplies electric power to the robot, and to arrange the first angular velocity sensor at an end portion of the first arm on the side opposite to the cable.
- Due to this, the first angular velocity sensor can be prevented from being affected by noise generated from the cable, and the first angular velocity sensor-side circuit or wiring can be prevented from short-circuiting by the cable.
- In the robot according to the aspect of the invention, it is preferable to install a cable in the third arm that supplies electric power to the robot, and to arrange the second angular velocity sensor at an end portion of the third arm on the side opposite to the cable.
- Due to this, the second angular velocity sensor can be prevented from being affected by noise generated from the cable, and the second angular velocity sensor-side circuit or wiring can be prevented from short-circuiting by the cable.
- In the robot according to the aspect of the invention, it is preferable that the robot further includes: a fourth arm rotatably coupled to the third arm about a fourth axis of rotation, the fourth axis of rotation being an axis perpendicular to the third axis of rotation or being an axis parallel to an axis perpendicular to the third axis of rotation; a fifth arm rotatably coupled to the fourth arm about a fifth axis of rotation, the fifth axis of rotation being an axis perpendicular to the fourth axis of rotation or being an axis parallel to an axis perpendicular to the fourth axis of rotation; and a sixth arm rotatably coupled to the fifth arm about a sixth axis of rotation, the sixth axis of rotation being an axis perpendicular to the fifth axis of rotation or being an axis parallel to an axis perpendicular to the fifth axis of rotation.
- Due to this, more complex motion can be easily performed.
- In the robot according to the aspect of the invention, it is preferable that the first axis of rotation coincides with a line normal to an installation surface of the base.
- Due to this, the control of the robot can be easily performed.
- Another aspect of the invention is directed to a robot control device controlling operation of a robot including a base, a first arm rotatably coupled to the base about a first axis of rotation, a second arm rotatably coupled to the first arm about a second axis of rotation, the second axis of rotation being an axis perpendicular to the first axis of rotation or being an axis parallel to an axis perpendicular to the first axis of rotation, and a third arm rotatably coupled to the second arm about a third axis of rotation, the third axis of rotation being an axis parallel to the second axis of rotation, the robot control device including: a reception section receiving a first signal and a second signal, the first signal being output from a first angular velocity sensor, the first angular velocity sensor being installed to the first arm and having an angular velocity detection axis parallel to the first axis of rotation, the second signal being output from a second angular velocity sensor, the second angular velocity sensor being installed to the third arm and having an angular velocity detection axis parallel to the third axis of rotation; an arithmetic section obtaining, based on the first signal and the second signal received by the reception section, a vibration component of angular velocity of the first arm and a vibration component of angular velocity of the third arm; and a control section controlling the operation of the robot based on the vibration component of the angular velocity of the first arm and the vibration component of the angular velocity of the third arm obtained by the arithmetic section.
- Due to this, vibration can be easily and reliably suppressed.
- That is, first, the arithmetic section can obtain, based on the angular velocity of the first arm detected by the first angular velocity sensor, a vibration component of the angular velocity of the first arm. Since the third axis of rotation is parallel to the second axis of rotation, the arithmetic section can obtain, based on the angular velocity of the third arm including the rotation of the second arm detected by the second angular velocity sensor, a vibration component of the angular velocity of the third arm including a vibration component of the angular velocity of the second arm. Then, based on the vibration component of the angular velocity of the first arm and the vibration component of the angular velocity of the third arm, vibration can be suppressed.
- Even when the posture of the robot is changed, the angular velocity detection axis of the first angular velocity sensor is constant. Because of this, a correction due to the orientation of the first angular velocity sensor does not need to be performed on the angular velocity of the first arm detected by the first angular velocity sensor.
- The third axis of rotation and the second axis of rotation are perpendicular to the first axis of rotation or parallel to an axis perpendicular to the first axis of rotation. Therefore, even when the posture of the robot is changed, for example, even when the first arm rotates or the second arm rotates, the angular velocity detection axis of the second angular velocity sensor is constant. Because of this, a correction due to the orientation of the second angular velocity sensor does not need to be performed on the angular velocity of the third arm detected by the second angular velocity sensor.
- Due to this, a complex and massive arithmetic operation is not needed, whereby an arithmetic error is unlikely to occur, vibration can be reliably suppressed, and a response speed in the control of the robot can be increased.
- The arithmetic section obtains, based not on the vibration component of the angular velocity only of the second arm but on the angular velocity of the third arm including the rotation of the second arm detected by the second angular velocity sensor, the vibration component of the angular velocity of the third arm including the vibration component of the angular velocity of the second arm. Therefore, vibration can be suppressed more reliably.
- Still another aspect of the invention is directed to a robot system including: the robot according to the aspect of the invention; and a robot control device controlling operation of the robot.
- Due to this, vibration can be easily and reliably suppressed.
- That is, first, the first angular velocity sensor can detect the angular velocity of the first arm. Since the third axis of rotation is parallel to the second axis of rotation, the second angular velocity sensor can detect the angular velocity of the third arm including the rotation of the second arm. Then, based on these detection results, vibration can be suppressed.
- Even when the posture of the robot is changed, the angular velocity detection axis of the first angular velocity sensor is constant. Because of this, a correction due to the orientation of the first angular velocity sensor does not need to be performed on the angular velocity of the first arm detected by the first angular velocity sensor.
- The third axis of rotation and the second axis of rotation are perpendicular to the first axis of rotation or parallel to an axis perpendicular to the first axis of rotation. Therefore, even when the posture of the robot is changed, for example, even when the first arm rotates or the second arm rotates, the angular velocity detection axis of the second angular velocity sensor is constant. Because of this, a correction due to the orientation of the second angular velocity sensor does not need to be performed on the angular velocity of the third arm detected by the second angular velocity sensor.
- Due to this, a complex and massive arithmetic operation is not needed, whereby an arithmetic error is unlikely to occur, vibration can be reliably suppressed, and a response speed in the control of the robot can be increased.
- Since the second angular velocity sensor does not detect the angular velocity of the second arm, but rather detects the angular velocity of the third arm including the rotation of the second arm, vibration can be suppressed more reliably.
- Compared to the case where an angular velocity sensor is also installed to the second arm, the number of angular velocity sensors can be reduced, the cost can be reduced, and the configuration can be simplified.
- Embodiments of the invention will be described with reference to the accompanying drawings, wherein like numbers reference like elements.
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FIG. 1 is a perspective view of an embodiment of a robot of the invention as viewed from the front side. -
FIG. 2 is a perspective view of the robot shown inFIG. 1 as viewed from the back side. -
FIG. 3 is a schematic view of the robot shown inFIG. 1 . -
FIG. 4 is a block diagram of a main portion of a robot system having the robot shown inFIG. 1 . -
FIG. 5 is an elevation view of the robot shown inFIG. 1 . -
FIG. 6 shows the vicinity of a first angular velocity sensor in a first arm of the robot shown inFIG. 1 . -
FIG. 7 shows the vicinity of a second angular velocity sensor in a third arm of the robot shown inFIG. 1 . -
FIG. 8 is a cross-sectional view of a first angular velocity sensor unit of the robot shown inFIG. 1 . -
FIG. 9 is a block diagram of a main portion of the robot shown inFIG. 1 . -
FIG. 10 is a block diagram of a main portion of the robot shown inFIG. 1 . -
FIG. 11 is a block diagram of a main portion of the robot shown inFIG. 1 . -
FIG. 12 is a block diagram of a main portion of the robot shown inFIG. 1 . -
FIG. 13 is a block diagram of a main portion of the robot shown inFIG. 1 . - Hereinafter, a robot, a robot control device, and a robot system of the invention will be described in detail based on a preferred embodiment shown in the accompanying drawings.
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FIG. 1 is a perspective view of the embodiment of the robot of the invention as viewed from the front side.FIG. 2 is a perspective view of the robot shown inFIG. 1 as viewed from the back side.FIG. 3 is a schematic view of the robot shown inFIG. 1 .FIG. 4 is a block diagram of a main portion of the robot system having the robot shown inFIG. 1 .FIG. 5 is an elevation view of the robot shown inFIG. 1 .FIG. 6 shows the vicinity of a first angular velocity sensor in a first arm of the robot shown inFIG. 1 .FIG. 7 shows the vicinity of a second angular velocity sensor in a third arm of the robot shown inFIG. 1 .FIG. 8 is a cross-sectional view of a first angular velocity sensor unit of the robot shown inFIG. 1 .FIGS. 9 to 13 are block diagrams each showing a main portion of the robot shown inFIG. 1 . - In the following, the upper side in
FIGS. 1 to 3 and 5 to 7 is referred to as “top” or “upper”, while the lower side is referred to as “down” or “lower”, for convenience of description. Moreover, the side of a base inFIGS. 1 to 3 and 5 to 7 is referred to as “base end”, while the opposite side is referred to as “front end”. InFIG. 8 , a reference numeral and sign of each part of a second angular velocity sensor unit is shown in parentheses, corresponding to that of the first angular velocity sensor unit. Therefore, the illustration of the second angular velocity sensor unit is omitted. - A robot system (industrial robot system) 10 shown in
FIGS. 1 to 4 can be used in, for example, the manufacturing process for manufacturing precision instrument or the like such as a wristwatch, and has a robot (industrial robot) 1 and a robot control device (controller) 20 (refer toFIG. 4 ) that controls operation of the robot 1. The robot 1 and therobot control device 20 are electrically connected. Therobot control device 20 can be configured of, for example, a personal computer (PC) or the like incorporating a CPU (Central Processing Unit) therein. Therobot control device 20 will be described in detail later. - The robot 1 includes a
base 11, four arms (links) 12, 13, 14, and 15, a wrist (link) 16, and six drivingsources arms wrist 16 coupled with one another in this order from the base end side toward the front end side. In the vertical articulated robot, thebase 11, thearms 12 to 15, and thewrist 16 can be collectively referred to as “arm”, and thearm 12, thearm 13, thearm 14, thearm 15, and thewrist 16 can be separately referred to as “first arm”, “second arm”, “third arm”, “fourth arm”, and “fifth arm and sixth arm”, respectively. In the embodiment, thewrist 16 has the fifth arm and the sixth arm. An end effector or the like can be mounted to thewrist 16. - The
arms 12 to 15 and thewrist 16 are displaceably supported by the base 11 independently of each other. The lengths of thearms 12 to 15 and thewrist 16 are not particularly limited. In the configuration shown in the drawing, however, the lengths of thefirst arm 12, thesecond arm 13, and thefourth arm 15 are set to be greater than those of thethird arm 14 and thewrist 16. - The
base 11 and thefirst arm 12 are coupled to each other via a joint 171. Thefirst arm 12 is rotatable relative to the base 11 about a first axis of rotation O1, which is parallel to the vertical direction, with the first axis of rotation O1 as the center of rotation. The first axis of rotation O1 coincides with a normal line to a top surface of afloor 101 as an installation surface of thebase 11. The rotation about the first axis of rotation O1 is made by the driving of thefirst driving source 401 having amotor 401M. Thefirst driving source 401 is driven by themotor 401M and a cable (not shown). Themotor 401M is controlled, via amotor driver 301 electrically connected thereto, by the robot control device 20 (refer toFIG. 4 ). Thefirst driving source 401 may be configured so as to transmit a driving force from themotor 401M with a speed reducer (not shown) disposed together with themotor 401M, or a speed reducer may be omitted. In the embodiment, however, thefirst driving source 401 has a speed reducer. - The
first arm 12 and thesecond arm 13 are coupled to each other via a joint 172. Thesecond arm 13 is rotatable relative to thefirst arm 12 with a second axis of rotation O2, which is parallel to the horizontal direction, as the center of axis. The second axis of rotation O2 is perpendicular to the first axis of rotation O1. The rotation about the second axis of rotation O2 is made by the driving of asecond driving source 402 having amotor 402M. Thesecond driving source 402 is driven by themotor 402M and a cable (not shown). Themotor 402M is controlled, via amotor driver 302 electrically connected thereto, by the robot control device 20 (refer toFIG. 4 ). Thesecond driving source 402 may be configured so as to transmit a driving force from themotor 402M with a speed reducer 45 (refer toFIG. 5 ) disposed together with themotor 402M, or a speed reducer may be omitted. In the embodiment, however, thesecond driving source 402 has thespeed reducer 45. The second axis of rotation O2 may be parallel to an axis perpendicular to the first axis of rotation O1. - The
second arm 13 and thethird arm 14 are coupled to each other via a joint 173. Thethird arm 14 can rotate relative to thesecond arm 13 about a third axis of rotation O3, which is parallel to the horizontal direction, with the axis of rotation O3 as the center of rotation. The third axis of rotation O3 is parallel to the second axis of rotation O2. The rotation about the third axis of rotation O3 is made by the driving of thethird driving source 403. Thethird driving source 403 is driven by amotor 403M and a cable (not shown). Themotor 403M is controlled, via amotor driver 303 electrically connected thereto, by the robot control device (refer toFIG. 4 ). Thethird driving source 403 may be configured so as to transmit a driving force from themotor 403M with a speed reducer (not shown) disposed together with themotor 403M, or a speed reducer may be omitted. In the embodiment, however, thethird driving source 403 has a speed reducer. - The
third arm 14 and thefourth arm 15 are coupled to each other via a joint 174. Thefourth arm 15 is rotatable relative to the third arm 14 (the base 11) about a fourth axis of rotation O4, which is parallel to the central axis direction of thethird arm 14, with the fourth axis of rotation O4 as the center of rotation. The fourth axis of rotation O4 is perpendicular to the third axis of rotation O3. The rotation about the fourth axis of rotation O4 is made by the driving of thefourth driving source 404. Thefourth driving source 404 is driven by amotor 404M and a cable (not shown). Themotor 404M is controlled, via amotor driver 304 electrically connected thereto, by the robot control device 20 (refer toFIG. 4 ). Thefourth driving source 404 may be configured so as to transmit a driving force from themotor 404M with a speed reducer (not shown) disposed together with themotor 404M, or a speed reducer may be omitted. In the embodiment, however, thefourth driving source 404 has a speed reducer. The fourth axis of rotation O4 may be parallel to an axis perpendicular to the third axis of rotation O3. - The
fourth arm 15 and thefifth wrist 16 are coupled to each other via a joint 175. Thewrist 16 is rotatable relative to thefourth arm 15 about a fifth axis of rotation O5, which is parallel to the horizontal direction (Y-axis direction), with the fifth axis of rotation O5 as the center of rotation. The fifth axis of rotation O5 is perpendicular to the fourth axis of rotation O4. The rotation about the fifth axis of rotation O5 is made by the driving of thefifth driving source 405. Thefifth driving source 405 is driven by amotor 405M and a cable (not shown). Themotor 405M is controlled, via amotor driver 305 electrically connected thereto, by the robot control device 20 (refer toFIG. 4 ). Thefifth driving source 405 may be configured so as to transmit a driving force from themotor 405M with a speed reducer (not shown) disposed together with themotor 405M, or a speed reducer may be omitted. In the embodiment, however, thefifth driving source 405 has a speed reducer. Moreover, thewrist 16 is rotatable via a joint 176 also about a sixth axis of rotation O6, which is normal to the fifth axis of rotation O5, with the sixth axis of rotation O6 as the center of rotation. The axis of rotation O6 is perpendicular to the axis of rotation O5. The rotation about the sixth axis of rotation O6 is made by the driving of thesixth driving source 406. Thesixth driving source 406 is driven by amotor 406M and a cable (not shown). Themotor 406M is controlled, via amotor driver 306 electrically connected thereto, by the robot control device 20 (refer toFIG. 4 ). Thesixth driving source 406 may be configured so as to transmit a driving force from themotor 406M with a speed reducer (not shown) disposed together with themotor 406M, or a speed reducer may be omitted. In the embodiment, however, thesixth driving source 406 has a speed reducer. The fifth axis of rotation O5 may be parallel to an axis perpendicular to the fourth axis of rotation O4. The sixth axis of rotation O6 may be parallel to an axis perpendicular to the fifth axis of rotation O5. - As shown in
FIG. 6 , a firstangular velocity sensor 31, that is, a first angularvelocity sensor unit 71 having the firstangular velocity sensor 31 is installed to thefirst arm 12. The firstangular velocity sensor 31 detects an angular velocity of thefirst arm 12 about the first axis of rotation O1. - As shown in
FIG. 7 , a secondangular velocity sensor 32, that is, a second angularvelocity sensor unit 72 having the secondangular velocity sensor 32 is installed to thethird arm 14. The secondangular velocity sensor 32 detects an angular velocity of thethird arm 14 about the second axis of rotation O2. - The first
angular velocity sensor 31 and the secondangular velocity sensor 32 are not particularly limited, and for example, a gyro sensor or the like can be used. - In the robot 1, vibrations of the
first arm 12, thesecond arm 13, and thethird arm 14 are suppressed, whereby the vibration of the entire robot 1 is suppressed. However, for suppressing the vibrations of thefirst arm 12, thesecond arm 13, and thethird arm 14, an angular velocity sensor is not installed to all of thefirst arm 12, thesecond arm 13, and thethird arm 14. As described above, the firstangular velocity sensor 31 and the secondangular velocity sensor 32 are installed only to thefirst arm 12 and thethird arm 14. Based on the detection results of the firstangular velocity sensor 31 and the secondangular velocity sensor 32, operations of the drivingsources first arm 12, thesecond arm 13, and thethird arm 14, the number of angular velocity sensors can be reduced, the cost can be reduced, and a circuit configuration can be simplified. Moreover, since the secondangular velocity sensor 32 does not detects the angular velocity of thesecond arm 13, but rather detects the angular velocity of thethird arm 14 including the rotation of thesecond arm 13, the vibration can be suppressed more reliably. Moreover, by controlling the operation of thesecond driving source 402 that rotates thesecond arm 13 located on the base end side of thethird arm 14, an effect of suppressing the vibration of the robot 1 can be enhanced. - A
first position sensor 411, asecond position sensor 412, athird position sensor 413, afourth position sensor 414, afifth position sensor 415, and asixth position sensor 416 are disposed in the respective motors or speed reducers of the drivingsources 401 to 406. These position sensors are not particularly limited, and for example, an encoder, a rotary encoder, a resolver, a potentiometer, or the like can be used. Theseposition sensors 411 to 416 detect the rotation angles of the shafts of the motors or speed reducers of the drivingsources 401 to 406, respectively. The motors of the drivingsources 401 to 406 are not particularly limited, and for example, a servomotor such as an AC servomotor or a DC servomotor is preferably used. The cables may be inserted through the robot 1. - As shown in
FIG. 4 , the robot 1 is electrically connected with therobot control device 20. That is, the drivingsources 401 to 406, theposition sensors 411 to 416, and theangular velocity sensors robot control device 20. - The
robot control device 20 can operate thearms 12 to 15 and thewrist 16 independently of each other. That is, therobot control device 20 can control the drivingsources 401 to 406 independently of each other via themotor drivers 301 to 306. In this case, therobot control device 20 performs detection with theposition sensors 411 to 416, the firstangular velocity sensor 31, and the secondangular velocity sensor 32, and controls, based on the detection results, the driving of the drivingsources 401 to 406, for example, controls an angular velocity, a rotation angle, or the like. This control program is previously stored in a recording medium incorporated in therobot control device 20. - As shown in
FIGS. 1 and 2 , when the robot 1 is a vertical articulated robot, thebase 11 is located at the lowest portion of the vertical articulated robot and is fixed to thefloor 101 as an installation space. This fixing method is not particularly limited. For example, in the embodiment shown inFIGS. 1 and 2 , a method of fixing with a plurality ofbolts 111 is used. As a fixing place of the base 11 in an installation space, the wall or ceiling of the installation space can be used, in addition to the floor. - The
base 11 has a hollow base main body (housing) 112. The basemain body 112 can be separated into acylindrical portion 113 having a cylindrical shape and a box-like portion 114 formed integrally at the periphery of thecylindrical portion 113 and having a box-like shape. In the basemain body 112, themotor 401M or themotor drivers 301 to 306, for example, are accommodated. - Each of the
arms 12 to 15 has a hollow arm main body (case) 2, adriving mechanism 3, andsealers 4. In the following, for convenience of description, the armmain body 2, thedriving mechanism 3, and thesealer 4 included in thefirst arm 12 are also respectively referred to as “armmain body 2 a”, “drivingmechanism 3 a”, and “sealer 4 a”; the armmain body 2, thedriving mechanism 3, and thesealer 4 included in thesecond arm 13 are also respectively referred to as “armmain body 2 b”, “drivingmechanism 3 b”, and “sealer 4 b”; the armmain body 2, thedriving mechanism 3, and thesealer 4 included in thethird arm 14 are also respectively referred to as “armmain body 2 c”, “drivingmechanism 3 c”, and “sealer 4 c”; and the armmain body 2, thedriving mechanism 3, and thesealer 4 included in thefourth arm 15 are also respectively referred to as “armmain body 2 d”, “drivingmechanism 3 d”, and “sealer 4 d”. - Each of the
joints 171 to 176 has a rotation support mechanism (not shown). This rotation support mechanism is a mechanism for rotatably supporting one of two arms coupled to each other relative to the other, a mechanism for rotatably supporting one of thebase 11 and thefirst arm 12 coupled to each other relative to the other, or a mechanism for rotatably supporting one of thefourth arm 15 and thefifth wrist 16 coupled to each other relative to the other. When thefourth arm 15 and thewrist 16 coupled to each other are taken as an example, the rotation support mechanism can rotate thewrist 16 relative to thefourth arm 15. Each of the rotation support mechanisms has a speed reducer (not shown) that reduces the rotational speed of the corresponding motor at a predetermined reduction ratio and transmits the driving force to the corresponding arm, or a wristmain body 161 and asupport ring 162 of thewrist 16. In the embodiment as described above, the driving source includes this speed reducer and the motor. - The
first arm 12 is coupled, in an inclined posture to the horizontal direction, to an upper end portion (front end portion) of thebase 11. In thefirst arm 12, thedriving mechanism 3 a has themotor 402M, which is accommodated in the armmain body 2 a. The interior of the armmain body 2 a is airtightly sealed by thesealers 4 a. The armmain body 2 a has a pair oftongue portions root portion 251 on the base end side. Thetongue portion 241 a and thetongue portion 241 b are spaced apart from each other and face each other. Moreover, thetongue portions root portion 251, whereby thefirst arm 12 is inclined to the horizontal direction. A base end portion of thesecond arm 13 is arranged between thetongue portion 241 a and thetongue portion 241 b. - The installation position of the first
angular velocity sensor 31 in thefirst arm 12 is not particularly limited. In the embodiment as shown inFIG. 6 , the firstangular velocity sensor 31, that is, the first angularvelocity sensor unit 71 is installed inside theroot portion 251 of the armmain body 2 a of thefirst arm 12 at an end portion thereof on the side opposite to acable 85. Thecable 85 is a cable that supplies electric power to themotors 401M to 406M of the robot 1. Due to this, the firstangular velocity sensor 31 can be prevented from being affected by noise generated from thecable 85. Moreover, a circuit section 713 (described later), a wiring, and the firstangular velocity sensor 31 of the first angularvelocity sensor unit 71 can be prevented from short-circuiting by thecable 85. - In regard to the
driving mechanism 3 and the speed reducer, thedriving mechanism 3 that is disposed in the armmain body 2 a of thefirst arm 12 and rotates thesecond arm 13 will be representatively described. - As shown in
FIG. 5 , thedriving mechanism 3 has afirst pulley 91 coupled to the shaft of themotor 402M, asecond pulley 92 arranged spaced apart from thefirst pulley 91, and a belt (timing belt) 93 looped around thefirst pulley 91 and thesecond pulley 92. Thesecond pulley 92 and a shaft of thesecond arm 13 are coupled with thespeed reducer 45. - The
speed reducer 45 is not particularly limited, and examples thereof include, for example, a speed reducer configured of a plurality of gears and a speed reducer called a Harmonic Drive (“Harmonic Drive” is a registered trademark). - The main causes of the vibrations of the
arms 12 to 15 and thewrist 16 of the robot 1 include, for example, the torsion or deformation of thespeed reducer 45, the expansion and contraction of thebelt 93, the deformation of thearms 12 to 15 and thewrist 16, and the like. - The
second arm 13 is coupled to a front end portion of thefirst arm 12. In thesecond arm 13, thedriving mechanism 3 b has themotor 403M, which is accommodated in the armmain body 2 b. The interior of the armmain body 2 a is airtightly sealed by thesealers 4 b. The armmain body 2 b has a pair oftongue portions tongue portion 242 a and thetongue portion 242 b are spaced apart from each other and face each other. A base end portion of thethird arm 14 is arranged between thetongue portion 242 a and thetongue portion 242 b. - The
third arm 14 is coupled to a front end portion of thesecond arm 13. In thethird arm 14, thedriving mechanism 3 c has themotor 404M, which is accommodated in the armmain body 2 c. The interior of the armmain body 2 c is airtightly sealed by thesealers 4 c. The armmain body 2 c is configured of a member corresponding to theroot portion 251 of the armmain body 2 a or the root portion 252 of the armmain body 2 b. - The installation position of the second
angular velocity sensor 32 in thethird arm 14 is not particularly limited. In the embodiment as shown inFIG. 7 , the secondangular velocity sensor 32, that is, the second angularvelocity sensor unit 72 is installed inside the armmain body 2 c of thethird arm 14 at an end portion thereof on the side opposite to thecable 85. Due to this, the secondangular velocity sensor 32 can be prevented from being affected by noise generated from thecable 85. Moreover, acircuit section 723, a wiring, and the secondangular velocity sensor 32 of the second angularvelocity sensor unit 72 can be prevented from short-circuiting by thecable 85. - The
fourth arm 15 is coupled to a front end portion of thethird arm 14 in parallel with the central axis direction of thethird arm 14. In thearm 15, thedriving mechanism 3 d has themotors main body 2 d. The interior of the armmain body 2 d is airtightly sealed by the sealers 4 d. The armmain body 2 d has a pair oftongue portions 244 a and 244 b on the front end side and aroot portion 254 on the base end side. The tongue portion 244 a and thetongue portion 244 b are spaced apart from each other and face each other. Thesupport ring 162 of thewrist 16 is arranged between the tongue portion 244 a and thetongue portion 244 b. - The
wrist 16 is coupled to a front end portion (end portion on the side opposite to the base 11) of thefourth arm 15. A manipulator (not shown) that grips, for example, precision instrument such as a wristwatch is detachably attached to thewrist 16 as a functional section (end effector) at its front end portion (end portion on the side opposite to the fourth arm 15). The manipulator is not particularly limited, and examples thereof include, for example, a manipulator configured of a plurality of finger portions (fingers). The robot 1 can control operations of thearms 12 to 15, thewrist 16, and the like, while gripping precision instrument with the manipulator, to thereby convey the precision instrument. - The
wrist 16 has the wrist main body (the sixth arm) 161 having a cylindrical shape and the support ring (the fifth arm) 162 having a ring-like shape. Thesupport ring 162 is configured separately from the wristmain body 161 and disposed at a base end portion of the wristmain body 161. - A
front end surface 163 of the wristmain body 161 is a flat surface and serves as an attachment surface to which the manipulator is attached. The wristmain body 161 is coupled to thedriving mechanism 3 d of thefourth arm 15 via the joint 176 and rotates about the axis of rotation O6 by the driving of themotor 406M of thedriving mechanism 3 d. - The
support ring 162 is coupled to the driving mechanism. 3 d of thefourth arm 15 via the joint 175 and rotates about the axis of rotation O5 together with the wristmain body 161 by the driving of themotor 405M of thedriving mechanism 3 d. - The constituent material of the arm
main body 2 is not particularly limited, and for example, various metal materials can be used. Among these, aluminum or an aluminum alloy is particularly preferable. When the armmain body 2 is a casting that is molded using a die, the use of aluminum or an aluminum alloy for the constituent material of the armmain body 2 can facilitate die molding. - The constituent materials of the base
main body 112 of thebase 11, and the wristmain body 161 and thesupport ring 162 of thewrist 16 are not particularly limited. Examples thereof include, for example, those similar to the constituent material of the armmain body 2. A stainless steel is preferably used for the constituent material of the wristmain body 161 of thewrist 16. - The constituent material of the
sealer 4 is not particularly limited, and for example, various resin materials and various metal materials can be used. The use of a resin material as the constituent material of thesealer 4 can achieve a reduction in weight. - Next, the first angular
velocity sensor unit 71 and the second angularvelocity sensor unit 72 will be described. - As shown in
FIG. 8 , the first angularvelocity sensor unit 71 has afirst housing 711, acircuit board 712 disposed in thefirst housing 711 and having a wiring, and the firstangular velocity sensor 31 and thecircuit section 713 electrically connected on thecircuit board 712. In the embodiment, thefirst housing 711 is configured of a sealing material. The entirety of the firstangular velocity sensor 31, thecircuit section 713, and thecircuit board 712 are sealed by the sealing material. - In the same manner, the second angular
velocity sensor unit 72 has asecond housing 721, acircuit board 722 disposed in thesecond housing 721 and having a wiring, and the secondangular velocity sensor 32 and thecircuit section 723 electrically connected on thecircuit board 722. In the embodiment, thesecond housing 721 is configured of a sealing material. The entirety of the secondangular velocity sensor 32, thecircuit section 723, and thecircuit board 722 are sealed by the sealing material. - In this manner, the first
angular velocity sensor 31 and thecircuit section 713, and the secondangular velocity sensor 32 and thecircuit section 723 are respectively made into packages, whereby the configuration can be simplified. - The first angular
velocity sensor unit 71 and the second angularvelocity sensor unit 72 are similar to each other. Therefore, the first angularvelocity sensor unit 71 will be representatively described below. - First, the
circuit section 713 has an AD conversion section and a transmission section. The AD conversion section performs AD conversion on a signal output from the firstangular velocity sensor 31, that is, converts an analog signal to a digital signal. The transmission section transmits the converted signal to therobot control device 20. - The outer shape of the
first housing 711 is a rectangular parallelepiped. - The first
angular velocity sensor 31 has an angular velocity detection axis (hereinafter also referred simply to as “detection axis”) and is configured to detect an angular velocity about the detection axis. The detection axis of the firstangular velocity sensor 31 coincides with a normal line to the largest surface of the rectangular parallelepiped of thefirst housing 711. Due to this, directions of the detection axis of the firstangular velocity sensor 31 and the detection axis of the secondangular velocity sensor 32 can be easily and reliably recognized, and thus the firstangular velocity sensor 31 and the secondangular velocity sensor 32 can easily take a proper posture. The firstangular velocity sensor 31, that is, the first angularvelocity sensor unit 71 is installed such that the detection axis of the firstangular velocity sensor 31 is parallel to the first axis of rotation O1. The secondangular velocity sensor 32, that is, the second angularvelocity sensor unit 72 is installed such that the detection axis of the secondangular velocity sensor 32 is parallel to the third axis of rotation O3. - As shown in
FIGS. 6 and 8 , thefirst housing 711 has, at its four corners,mount portions 7111 mounted to thefirst arm 12. Ahole 7112 into which a male screw (fixing member) 81 is inserted is formed in each of themount portions 7111. - On the other hand, the
first arm 12 is formed integrally with the armmain body 2 a and has three arm-side mount portions 121 to which the first angular velocity sensor unit 71 (the first housing 711) is mounted. Each of the arm-side mount portions 121 is configured of a support post formed protrudingly on the armmain body 2 a. Each of the arm-side mount portions 121 is arranged at a position corresponding to themount portion 7111 of thefirst housing 711. At a front end portion of each of the arm-side mount portions 121, afemale screw 122 with which themale screw 81 engages is formed. - The term “integrally” in the phrase “the arm-
side mount portion 121 formed integrally with the armmain body 2 a” means the case where the armmain body 2 a and the arm-side mount portion 121 are not formed by separately forming the respective members and joining them together but formed simultaneously by, for example, die casting or the like. The same applies to the term “integrally” in the phrase “arm-side mount portion 141 formed integrally with the armmain body 2 c” described below. - When the first angular
velocity sensor unit 71 is mounted (installed) to thefirst arm 12, each of the threemale screws 81 is inserted into thehole 7112 of thefirst housing 711 to engage with thefemale screw 122 at the front end portion of the arm-side mount portion 121 of thefirst arm 12. Due to this, each of the threemount portions 7111 of thefirst housing 711 is fixed to the corresponding arm-side mount portion 121 of thefirst arm 12 with themale screw 81. That is, the first angularvelocity sensor unit 71 is mounted to the arm-side mount portions 121 of thefirst arm 12. In this case, there is nothing between the arm-side mount portions 121 and the first angularvelocity sensor unit 71, that is, the first angularvelocity sensor unit 71 is directly mounted to the arm-side mount portions 121. Due to this, the first angularvelocity sensor unit 71 can be reliably mounted to thefirst arm 12. Moreover, the first angularvelocity sensor unit 71 can reliably rotate together with thefirst arm 12. - The term “directly” in the sentence “the first angular
velocity sensor unit 71 is directly mounted to the arm-side mount portions 121” means that the first angularvelocity sensor unit 71 is not mounted to another intermediate such as a board and the intermediate is mounted to the arm-side mount portions 121. That is, there is nothing between the arm-side mount portions 121 and the first angularvelocity sensor unit 71, except for an adhesive or the like. The same applies to the term “directly” in the sentence “the second angularvelocity sensor unit 72 is directly mounted to the arm-side mount portion 141” described below. - The
male screw 81 has conductivity and is formed of, for example, any metal material. When themale screw 81 is inserted into thehole 7112 of thefirst housing 711 to engage with thefemale screw 122 at the front end portion of the arm-side mount portion 121, themale screw 81 is electrically connected to the wiring of thecircuit board 712 electrically connected to a grounding terminal of thecircuit section 713. Moreover, a front end portion of themale screw 81 is electrically connected to the arm-side mount portion 121. Due to this, the grounding terminal of thecircuit section 713 is electrically connected to the armmain body 2 a of thefirst arm 12 via the wiring and themale screw 81, thereby being grounded. Due to this, the number of components required for grounding can be reduced, and thus the configuration can be simplified. - As shown in
FIGS. 7 and 8 , thesecond housing 721 has, at its four corners,mount portions 7211 mounted to thethird arm 14. Ahole 7212 into which amale screw 81 is inserted is formed in each of themount portions 7211. - As shown in
FIG. 7 , thethird arm 14 has the arm-side mount portion 141 that is formed integrally with the armmain body 2 c and to which the second angular velocity sensor unit 72 (the second housing 721) is mounted. The arm-side mount portion 141 has a shape corresponding to thesecond housing 721. That is, the arm-side mount portion 141 has a plate shape, and the plan-view shape thereof is a quadrilateral (a rectangle in the embodiment). A female screw with which themale screw 81 engages is formed at each corner of the arm-side mount portion 141. - When the second angular
velocity sensor unit 72 is mounted to thethird arm 14, each of the fourmale screws 81 is inserted into thehole 7212 of thesecond housing 721 to engage with the female screw at a front end portion of the arm-side mount portion 141 of thethird arm 14. Due to this, the fourmount portions 7211 of thesecond housing 721 are fixed to the arm-side mount portion 141 of thethird arm 14 with the male screws 81. That is, the second angularvelocity sensor unit 72 is mounted to the arm-side mount portion 141 of thethird arm 14. In this case, there is nothing between the arm-side mount portion 141 and the second angularvelocity sensor unit 72, that is, the second angularvelocity sensor unit 72 is directly mounted to the arm-side mount portion 141. Due to this, the second angularvelocity sensor unit 72 can be reliably mounted to thethird arm 14. Moreover, the second angularvelocity sensor unit 72 can reliably rotate integrally with thethird arm 14. - When the
male screw 81 is inserted into thehole 7212 of thesecond housing 721 to engage with the female screw of the arm-side mount portion 141, themale screw 81 is electrically connected to the wiring of thecircuit board 722 electrically connected to a grounding terminal of thecircuit section 723. Moreover, the front end portion of themale screw 81 is electrically connected to the arm-side mount portion 141. Due to this, the grounding terminal of thecircuit section 723 is electrically connected to the armmain body 2 c of thethird arm 14 via the wiring and themale screw 81, thereby being grounded. Due to this, the number of components required for grounding can be reduced, and thus the configuration can be simplified. - Next, the configuration of the
robot control device 20 will be described with reference toFIGS. 4 and 9 to 13 . - The
robot control device 20 has a reception section, an arithmetic section, and a control section. The reception section receives a first signal output from the firstangular velocity sensor 31, a second signal output from the secondangular velocity sensor 32, and signals output from theposition sensors 411 to 416. The arithmetic section obtains, based on the first signal and the second signal received by the reception section, a vibration component of the angular velocity of thefirst arm 12 and a vibration component of the angular velocity of thethird arm 14. The control section controls the operation of the robot 1 based on the vibration component of the angular velocity of thefirst arm 12 and the vibration component of the angular velocity of thethird arm 14 obtained by the arithmetic section. - Specifically, as shown in
FIGS. 4 and 9 to 13 , therobot control device 20 has the reception section, a first drivingsource control section 201 that controls operation of thefirst driving source 401, a second drivingsource control section 202 that controls operation of thesecond driving source 402, a third drivingsource control section 203 that controls operation of thethird driving source 403, a fourth drivingsource control section 204 that controls operation of thefourth driving source 404, a fifth drivingsource control section 205 that controls operation of thefifth driving source 405, and a sixth drivingsource control section 206 that controls operation of thesixth driving source 406. - The arithmetic section is configured of an angular velocity calculation section 561 (described later) and a
subtracter 571 of the first drivingsource control section 201, an angular velocity calculation section 562 (described later) and an adder-subtracter 622 of the second drivingsource control section 202, and an angular velocity calculation section 563 (described later) of the third drivingsource control section 203. - As shown in
FIG. 9 , the first drivingsource control section 201 has asubtracter 511, aposition control section 521, asubtracter 531, an angularvelocity control section 541, a rotationangle calculation section 551, the angularvelocity calculation section 561, thesubtracter 571, aconversion section 581, a correctionvalue calculation section 591, and anadder 601. - As shown in
FIG. 10 , the second drivingsource control section 202 has asubtracter 512, aposition control section 522, asubtracter 532, an angularvelocity control section 542, a rotation angle calculation section 552, the angularvelocity calculation section 562, the adder-subtracter 622, aconversion section 582, a correctionvalue calculation section 592, and anadder 602. - As shown in
FIG. 10 , the third drivingsource control section 203 has asubtracter 513, aposition control section 523, asubtracter 533, an angularvelocity control section 543, a rotationangle calculation section 553, and the angularvelocity calculation section 563. - As shown in
FIG. 11 , the fourth drivingsource control section 204 has a subtracter 514, aposition control section 524, asubtracter 534, an angularvelocity control section 544, a rotationangle calculation section 554, and an angularvelocity calculation section 564. - As shown in
FIG. 12 , the fifth drivingsource control section 205 has asubtracter 515, aposition control section 525, asubtracter 535, an angularvelocity control section 545, a rotationangle calculation section 555, and an angularvelocity calculation section 565. - As shown in
FIG. 13 , the sixth drivingsource control section 206 has asubtracter 516, aposition control section 526, asubtracter 536, an angularvelocity control section 546, a rotationangle calculation section 556, and an angularvelocity calculation section 566. - The
robot control device 20 computes a target position of thewrist 16 based on the contents of processing performed by the robot 1, and generates a trajectory of thewrist 16 to move to the target position. Then, for causing thewrist 16 to move along the generated trajectory, therobot control device 20 measures a rotation angle of each of the drivingsources 401 to 406 every predetermined control period, and outputs, as a position command Pc of each of the drivingsources 401 to 406, a value computed based on this measured result to the drivingsource control sections 201 to 206 (refer toFIGS. 9 to 13 ). In the above and the following, although the sentence “value is input/output” or the like is given, this means that “signal corresponding to the value is input/out”. - As shown in
FIG. 9 , in addition to the position command Pc of thefirst driving source 401, detection signals are input to the first drivingsource control section 201 from thefirst position sensor 411 and the firstangular velocity sensor 31. The first drivingsource control section 201 drives thefirst driving source 401 by feedback control using the detection signals so that the rotation angle (position feedback value Pfb) of the first driving source calculated from the detection signal of thefirst position sensor 411 is the position command Pc and an angular velocity feedback value ωfb (described later) is an angular velocity command ωc (described later). - That is, the position command Pc and the position feedback value Pfb (described later) from the rotation
angle calculation section 551 are input to thesubtracter 511 of the first drivingsource control section 201. In the rotationangle calculation section 551, the number of pulses input from thefirst position sensor 411 is counted, and the rotation angle of thefirst driving source 401 according to the count value is output as the position feedback value Pfb to thesubtracter 511. Thesubtracter 511 outputs a deviation between the position command Pc and the position feedback value Pfb (a value obtained by subtracting the position feedback value Pfb from a target value of the rotation angle of the first driving source 401) to theposition control section 521. - The
position control section 521 performs predetermined arithmetic processing using the deviation input from thesubtracter 511, a proportional gain as a predefined coefficient, and the like to thereby compute the target value of the angular velocity of thefirst driving source 401 according to the deviation. Theposition control section 521 outputs, as the angular velocity command ωc, a signal indicating the target value (command value) of the angular velocity of thefirst driving source 401 to thesubtracter 531. In this case, although proportional control (P control) is performed as feedback control in the embodiment, it is not limited thereto. - The angular velocity command ωc and the angular velocity feedback value ωfb (described later) are input to the
subtracter 531. Thesubtracter 531 outputs a deviation between the angular velocity command ωc and the angular velocity feedback value ωfb (a value obtained by subtracting the angular velocity feedback value ωfb from the target value of the angular velocity of the first driving source 401) to the angularvelocity control section 541. - The angular
velocity control section 541 performs predetermined arithmetic processing including integration using the deviation input from thesubtracter 531, a proportional gain and an integral gain as predefined coefficients, and the like to thereby generate a driving signal (driving current) of thefirst driving source 401 according to the deviation, and supplies the signal to themotor 401M via themotor driver 301. In this case, although PI control is performed as feedback control in the embodiment, it is not limited thereto. - In this manner, the feedback control is performed and the driving current of the
first driving source 401 is controlled so that the position feedback value Pfb is as equal as possible to the position command Pc and the angular velocity feedback value ωfb is as equal as possible to the angular velocity command ωc. - Next, the angular velocity feedback value ωfb in the first driving
source control section 201 will be described. - In the angular
velocity calculation section 561, an angular velocity ωm1 of thefirst driving source 401 is calculated based on the frequency of a pulse signal input from thefirst position sensor 411, and the angular velocity ωm1 is output to theadder 601. - In the angular
velocity calculation section 561, an angular velocity ωA1m of thefirst arm 12 about the first axis of rotation O1 is calculated based on the frequency of the pulse signal input from thefirst position sensor 411, and the angular velocity ωA1m is output to thesubtracter 571. The angular velocity ωA1m is a value obtained by dividing the angular velocity ωm1 by a reduction ratio between themotor 401M of thefirst driving source 401 and thefirst arm 12, that is, at the joint 171. - Moreover, the first
angular velocity sensor 31 detects the angular velocity of thefirst arm 12 about the first axis of rotation O1. The detection signal of the firstangular velocity sensor 31, that is, an angular velocity ωA1 of thefirst arm 12 about the first axis of rotation O1 detected by the firstangular velocity sensor 31 is output to thesubtracter 571. - The angular velocity ωA1 and the angular velocity ωA1m are input to the
subtracter 571. Thesubtracter 571 outputs a value (ωA1s (=ωA1−ωA1m) obtained by subtracting the angular velocity ωA1m from the angular velocity ωA1 to theconversion section 581. The value ωA1s corresponds to a vibration component of the angular velocity (vibration angular velocity) of thefirst arm 12 about the first axis of rotation O1. Hereinafter, (ωA1s is referred to as vibration angular velocity. In the embodiment, feedback control is performed in which the vibration angular velocity ωA1s (specifically an angular velocity ωm1s in themotor 401M, which is generated based on the vibration angular velocity ωA1s) is multiplied by a gain Ka (described later) and the resultant returns to an input side of the drivingsource 401. Specifically, the feedback control is performed on the drivingsource 401 so that the vibration angular velocity ωA1s is as close as possible to 0. Due to this, the vibration of the robot 1 can be suppressed. In the feedback control, the angular velocity of the drivingsource 401 is controlled. - The
conversion section 581 converts the vibration angular velocity ωA1s into the angular velocity ωm1s in thefirst driving source 401, and outputs the angular velocity ωm1s to the correctionvalue calculation section 591. This conversion can be obtained by multiplying the vibration angular velocity ωA1s by a reduction ratio between themotor 401M of thefirst driving source 401 and thefirst arm 12, that is, at the joint 171. - The correction
value calculation section 591 multiplies the angular velocity ωm1s by the gain (feedback gain) Ka as a predefined coefficient to obtain a correction value Ka·ωm1s, and outputs the correction value Ka·ωm1s to theadder 601. - The angular velocity ωm1 and the correction value Ka·ωm1s are input to the
adder 601. Theadder 601 outputs, as the angular velocity feedback value ωfb, a value of adding the angular velocity ωm1 to the correction value Ka·ωm1s to thesubtracter 531. A subsequent operation is as described above. - As shown in
FIG. 10 , in addition to the position command Pc of thesecond driving source 402, detection signals are input to the second drivingsource control section 202 from thesecond position sensor 412 and the secondangular velocity sensor 32. Moreover, an angular velocity ωA3m of thearm 14 about the third axis of rotation O3 is input from the third drivingsource control section 203 to the second drivingsource control section 202. The second drivingsource control section 202 drives thesecond driving source 402 by feedback control using the detection signals so that the rotation angle (the position feedback value Pfb) of thesecond driving source 402 calculated from the detection signal of thesecond position sensor 412 is the position command Pc and the angular velocity feedback value ωfb (described later) is the angular velocity command ωc (described later). - That is, the position command Pc and the position feedback value Pfb (described later) from the rotation angle calculation section 552 are input to the
subtracter 512 of the second drivingsource control section 202. In the rotation angle calculation section 552, the number of pulses input from thesecond position sensor 412 is counted, and the rotation angle of thesecond driving source 402 according to the count value is output as the position feedback value Pfb to thesubtracter 512. Thesubtracter 512 outputs a deviation between the position command Pc and the position feedback value Pfb (a value obtained by subtracting the position feedback value Pfb from a target value of the rotation angle of the second driving source 402) to theposition control section 522. - The
position control section 522 performs predetermined arithmetic processing using the deviation input from thesubtracter 512, a proportional gain as a predefined coefficient, and the like to thereby compute the target value of the angular velocity of thesecond driving source 402 according to the deviation. Theposition control section 522 outputs, as the angular velocity command ωc, a signal indicating the target value (command value) of the angular velocity of thesecond driving source 402 to thesubtracter 532. In this case, although proportional control (P control) is performed as feedback control in the embodiment, it is not limited thereto. - The angular velocity command ωc and the angular velocity feedback value ωfb (described later) are input to the
subtracter 532. Thesubtracter 532 outputs a deviation between the angular velocity command ωc and the angular velocity feedback value ωfb (a value obtained by subtracting the angular velocity feedback value ωfb from the target value of the angular velocity of the second driving source 402) to the angularvelocity control section 542. - The angular
velocity control section 542 performs predetermined arithmetic processing including integration using the deviation input from thesubtracter 532, a proportional gain and an integral gain as predefined coefficients, and the like to thereby generate a driving signal (driving current) of thesecond driving source 402 according to the deviation, and supplies the signal to themotor 402M via themotor driver 302. In this case, although PI control is performed as feedback control in the embodiment, it is not limited thereto. - In this manner, the feedback control is performed and the driving current of the
second driving source 402 is controlled so that the position feedback value Pfb is as equal as possible to the position command Pc and the angular velocity feedback value ωfb is as equal as possible to the angular velocity command ωc. Since the second axis of rotation O2 is perpendicular to the first axis of rotation O1, the operation of thesecond driving source 402 can be controlled independently of thefirst driving source 401, without being affected by the operation or vibration of thefirst arm 12. - Next, the angular velocity feedback value ωfb in the second driving
source control section 202 will be described. - In the angular
velocity calculation section 562, an angular velocity ωm2 of thesecond driving source 402 is calculated based on the frequency of a pulse signal input from thesecond position sensor 412, and the angular velocity ωm2 is output to theadder 602. - In the angular
velocity calculation section 562, an angular velocity ωA2m of thesecond arm 13 about the second axis of rotation O2 is calculated based on the frequency of the pulse signal input from thesecond position sensor 412, and the angular velocity ωA2m is output to the adder-subtracter 622. The angular velocity ωA2m is a value obtained by dividing the angular velocity ωm2 by a reduction ratio between themotor 402M of thesecond driving source 402 and thesecond arm 13, that is, at the joint 172. - In the angular
velocity calculation section 563 of the third drivingsource control section 203, the angular velocity ωA3m of thethird arm 14 about the third axis of rotation O3 is calculated based on the frequency of a pulse signal input from thethird position sensor 413, and the angular velocity ωA3m is output to the adder-subtracter 622. The angular velocity ωA3m is a value obtained by dividing an angular velocity ωm3 by a reduction ratio between themotor 403M of thethird driving source 403 and thethird arm 14, that is, at the joint 173. - Moreover, the second
angular velocity sensor 32 detects an angular velocity of thethird arm 14 about the second axis of rotation O2. The detection signal of the secondangular velocity sensor 32, that is, an angular velocity ωA3 of thethird arm 14 about the second axis of rotation O2 detected by the secondangular velocity sensor 32 is output to the adder-subtracter 622. Since the second axis of rotation O2 and the third axis of rotation O3 are perpendicular to the first axis of rotation O1, the angular velocity of thethird arm 14 about the second axis of rotation O2 can be easily and reliably obtained without being affected by the operation or vibration of thefirst arm 12. - The angular velocity ωA3, the angular velocity ωA2m, and the angular velocity ωA3m are input to the adder-
subtracter 622. The adder-subtracter 622 outputs a value ωA2s (=ωA3−ωA2m−ωA3m) obtained by subtracting the angular velocity ωA2m and the angular velocity ωA3m from theangular velocity ωA 3 to theconversion section 582. The value ωA2s corresponds to a vibration component of a total of angular velocities (vibration angular velocities) of thesecond arm 13 and thethird arm 14 about the second axis of rotation O2. Hereinafter, ωA2s is referred to as vibration angular velocity. In the embodiment, feedback control is performed in which the vibration angular velocity ωA2s (specifically an angular velocity ωm2s in themotor 402M, which is a value generated based on the vibration angular velocity ωA2s) is multiplied by a gain Ka (described later) and the resultant returns to an input side of thesecond driving source 402. Specifically, the feedback control is performed on thesecond driving source 402 so that the vibration angular velocity ωA2s is as close as possible to 0. Due to this, the vibration of the robot 1 can be suppressed. In the feedback control, the angular velocity of thesecond driving source 402 is controlled. - The
conversion section 582 converts the vibration angular velocity ωA2s into the angular velocity ωm2s in thesecond driving source 402, and outputs the angular velocity ωm2s to the correctionvalue calculation section 592. This conversion can be obtained by multiplying the vibration angular velocity ωA2s by a reduction ratio between themotor 402M of thesecond driving source 402 and thesecond arm 13, that is, at the joint 172. - The correction
value calculation section 592 multiplies the angular velocity ωm2s by the gain (feedback gain) Ka as a predefined coefficient to obtain a correction value Ka·ωm2s, and outputs the correction value Ka·ωm2s to theadder 602. The gain Ka in the second drivingsource control section 202 and the gain Ka in the first drivingsource control section 201 may be the same, or may be different. - The angular velocity ωm2 and the correction value Ka·ωm2s are input to the
adder 602. Theadder 602 outputs, as the angular velocity feedback value ωfb, a value of adding the angular velocity ωm2 to the correction value Ka·ωm2s to thesubtracter 532. A subsequent operation is as described above. - As shown in
FIG. 10 , in addition to the position command Pc of thethird driving source 403, a detection signal is input to the third drivingsource control section 203 from thethird position sensor 413. The third drivingsource control section 203 drives thethird driving source 403 by feedback control using the detection signals so that the rotation angle (the position feedback value Pfb) of thethird driving source 403 calculated from the detection signal of thethird position sensor 413 is the position command Pc and the angular velocity feedback value ωfb (described later) is the angular velocity command ωc (described later). - That is, the position command Pc and the position feedback value Pfb (described later) from the rotation
angle calculation section 553 are input to thesubtracter 513 of the third drivingsource control section 203. In the rotationangle calculation section 553, the number of pulses input from thethird position sensor 413 is counted, and the rotation angle of thethird driving source 403 according to the count value is output as the position feedback value Pfb to thesubtracter 513. Thesubtracter 513 outputs a deviation between the position command Pc and the position feedback value Pfb (a value obtained by subtracting the position feedback value Pfb from a target value of the rotation angle of the third driving source 403) to theposition control section 523. - The
position control section 523 performs predetermined arithmetic processing using the deviation input from thesubtracter 512, a proportional gain as a predefined coefficient, and the like to thereby compute the target value of the angular velocity of thethird driving source 403 according to the deviation. Theposition control section 522 outputs, as the angular velocity command ωc, a signal indicating the target value (command value) of the angular velocity of thethird driving source 403 to thesubtracter 533. In this case, although proportional control (P control) is performed as feedback control in the embodiment, it is not limited thereto. - In the angular
velocity calculation section 563, the angular velocity of thethird driving source 403 is calculated based on the frequency of a pulse signal input from thethird position sensor 413, and the angular velocity is output as the angular velocity feedback value ωfb to thesubtracter 533. - The angular velocity command ωc and the angular velocity feedback value ωfb are input to the
subtracter 533. Thesubtracter 533 outputs a deviation between the angular velocity command ωc and the angular velocity feedback value ωfb (a value obtained by subtracting the angular velocity feedback value ωfb from the target value of the angular velocity of the third driving source 403) to the angularvelocity control section 543. - The angular
velocity control section 543 performs predetermined arithmetic processing including integration using the deviation input from thesubtracter 533, a proportional gain and an integral gain as predefined coefficients, and the like to thereby generate a driving signal (driving current) of thethird driving source 403 according to the deviation, and supplies the signal to themotor 403M via themotor driver 303. In this case, although PI control is performed as feedback control in the embodiment, it is not limited thereto. - In this manner, the feedback control is performed and the driving current of the
third driving source 403 is controlled so that the position feedback value Pfb is as equal as possible to the position command Pc and the angular velocity feedback value ωfb is as equal as possible to the angular velocity command ωc. - The driving
source control sections 204 to 206 are each similar to the third drivingsource control section 203, and therefore the description thereof is omitted. - In the robot 1 and the
robot system 10 described above, the firstangular velocity sensor 31 can detect the angular velocity of thefirst arm 12. Moreover, since the third axis of rotation O3 is parallel to the second axis of rotation O2, the secondangular velocity sensor 32 can detect the angular velocity of thethird arm 14 including the rotation of thesecond arm 13. Then, based on these detection results, vibration can be suppressed. - Even when the posture of the robot 1 is changed, the detection axis of the first
angular velocity sensor 31 is constant. Because of this, a correction due to the orientation of the firstangular velocity sensor 31 does not need to be performed on the angular velocity of thefirst arm 12 detected by the firstangular velocity sensor 31. - The third axis of rotation O3 and the second axis of rotation O2 are perpendicular to the first axis of rotation O1 or parallel to an axis perpendicular to the first axis of rotation. Therefore, even when the posture of the robot 1 is changed, for example, even when the
first arm 12 rotates or thesecond arm 13 rotates, the detection axis of the secondangular velocity sensor 32 is constant. Because of this, a correction due to the orientation of the secondangular velocity sensor 32 does not need to be performed on the angular velocity of thethird arm 14 detected by the secondangular velocity sensor 32. - Due to this, a complex and massive arithmetic operation is not needed, whereby an arithmetic error is unlikely to occur, vibration can be reliably suppressed, and a response speed in the control of the robot 1 can be increased.
- Since the second
angular velocity sensor 32 does not detect the angular velocity of thesecond arm 13, but rather detects the angular velocity of thethird arm 14 including the rotation of the second arm. 13, vibration can be suppressed more reliably. - Compared to the case where an angular velocity sensor is also installed to the
second arm 13, the number of angular velocity sensors can be reduced, the cost can be reduced, and the configuration can be simplified. - By controlling the operation of the
second driving source 402 that rotates thesecond arm 13 located on the base end side of thethird arm 14, an effect of suppressing the vibration of the robot 1 can be enhanced. - The robot, the robot control device, and the robot system of the invention have been described above based on the embodiment shown in the drawings. However, the invention is not limited thereto, and the configuration of each part can be replaced with any configuration having a similar function. Moreover, any other configuration may be added to the invention.
- Examples of the motors of the driving sources include, in addition to the servomotor, for example, a stepping motor. When a stepping motor is used as the motor, for example, a sensor that measures the number of driving pulses to be input to the stepping motor and thereby detects the rotation angle of the motor may be used as a position sensor.
- The types of the position sensors and the angular velocity sensors are not particularly limited. Examples thereof include, for example, optical, magnetic, electromagnetic, and electrical types.
- In the embodiment, the operation of the second driving source that rotates the second arm is controlled based on the detection result of the second angular velocity sensor. However, the invention is not limited thereto. For example, the operation of the third driving source that rotates the third arm may be controlled based on the detection result of the second angular velocity sensor.
- In the embodiment, the number of axes of rotation of the robot is six. However, the invention is not limited thereto. The number of axes of rotation of the robot may be three, four, five, or seven or more.
- That is, in the embodiment, since the wrist has two arms, the number of arms of the robot is six. However, the invention is not limited thereto. The number of arms of the robot may be three, four, five, or seven or more.
- In the embodiment, the robot is a single-arm robot having an arm-coupled body including a plurality of arms that are rotatably coupled to each other. However, the invention is not limited thereto. For example, the robot may be a robot having a plurality of the arm-coupled bodies, such as a dual-arm robot having two arm-coupled bodies each including a plurality of arms that are rotatably coupled to each other.
Claims (22)
1. A robot comprising:
a base;
an arm comprising a first arm rotatably coupled to the base about a first axis of rotation, a second arm rotatably coupled to the first arm about a second axis of rotation, the second axis of rotation intersecting the axis direction of the first axis of rotation, a third arm rotatably coupled to the second arm about a third axis of rotation, the third axis of rotation being parallel to the axis direction of the second axis of rotation;
a first angular velocity sensor installed to the first arm and having an angular velocity detection axis parallel to the axis direction of the first axis of rotation; and
a second angular velocity sensor installed to the third arm and having an angular velocity detection axis parallel to the axis direction of the third axis of rotation,
wherein a vibration of the arm is suppressed based on a signal output from the first angular velocity sensor and a signal output from the second angular velocity sensor.
2. The robot according to claim 1 , further comprising:
a first angular velocity sensor unit having a first housing, the first angular velocity sensor, and a circuit section, the first angular velocity sensor and the circuit section being disposed in the first housing, the circuit section AD-converting the signal output from the first angular velocity sensor and transmitting the signal; and
a second angular velocity sensor unit having a second housing, the second angular velocity sensor, and a circuit section, the second angular velocity sensor and the circuit section being disposed in the second housing, the circuit section AD-converting the signal output from the second angular velocity sensor and transmitting the signal, wherein the first angular velocity sensor unit is installed to the first arm, and the second angular velocity sensor unit is installed to the third arm.
3. The robot according to claim 2 , wherein
the first housing and the second housing each have a rectangular parallelepiped outer shape,
the angular velocity detection axis of the first angular velocity sensor coincides with a first line normal to a largest surface of the rectangular parallelepiped of the first housing, and
the angular velocity detection axis of the second angular velocity sensor coincides with a second line normal to a largest surface of the rectangular parallelepiped of the second housing.
4. The robot according to claim 2 , wherein
the first housing has a first mount portion mounted to the first arm at a corner of the first housing, and
the second housing has a second mount portion mounted to the third arm at a corner of the second housing.
5. The robot according to claim 4 , wherein
a first fixing member having conductivity and fixing the mount portion of the first housing to the first arm is provided and the circuit section of the first angular velocity sensor unit is grounded to the first arm through the fixing member, and
a second fixing member having conductivity and fixing the mount portion of the second housing to the third arm is provided and the circuit section of the second angular velocity sensor unit is grounded to the third arm through the fixing member.
6. The robot according to claim 2 , wherein
the first arm has a case and an arm-side mount portion formed integrally with the case, and
the first angular velocity sensor unit is directly mounted to the arm-side mount portion.
7. The robot according to claim 2 , wherein
the third arm has a case and an arm-side mount portion formed integrally with the case, and
the second angular velocity sensor unit is directly mounted to the arm-side mount portion.
8. The robot according to claim 1 , further comprising
a cable installed in the first arm and supplying electric power to the robot, and
wherein the first angular velocity sensor is arranged at an end portion of the first arm on a side opposite to the cable.
9. The robot according to claim 1 , further comprising
a cable installed in the third arm and supplying electric power to the robot, and
wherein the second angular velocity sensor is arranged at an end portion of the third arm on a side opposite to the cable.
10. The robot according to claim 1 , wherein
the arm comprising a fourth arm rotatably coupled to the third arm about a fourth axis of rotation, the fourth axis of rotation intersecting the axis direction of the third axis of rotation, a fifth arm rotatably coupled to the fourth arm about a fifth axis of rotation, the fifth axis of rotation intersecting the axis direction of the fourth axis of rotation, and a sixth arm rotatably coupled to the fifth arm about a sixth axis of rotation, the sixth axis of rotation intersecting the axis direction of the fifth axis of rotation.
11. The robot according to claim 1 , wherein
the first angular velocity sensor is installed inside the first arm, and
the second angular velocity sensor is installed inside the second arm.
12. A robot system comprising:
the robot according to claim 1 ; and
a robot control device controlling operation of the robot.
13. A robot system comprising:
the robot according to claim 2 ; and
a robot control device controlling operation of the robot.
14. A robot system comprising:
the robot according to claim 3 ; and
a robot control device controlling operation of the robot.
15. A robot system comprising:
the robot according to claim 4 ; and
a robot control device controlling operation of the robot.
16. A robot system comprising:
the robot according to claim 5 ; and
a robot control device controlling operation of the robot.
17. A robot system comprising:
the robot according to claim 6 ; and
a robot control device controlling operation of the robot.
18. A robot system comprising:
the robot according to claim 7 ; and
a robot control device controlling operation of the robot.
19. A robot system comprising:
the robot according to claim 8 ; and
a robot control device controlling operation of the robot.
20. A robot system comprising:
the robot according to claim 9 ; and
a robot control device controlling operation of the robot.
21. A robot system comprising:
the robot according to claim 10 ; and
a robot control device controlling operation of the robot.
22. A robot system comprising:
the robot according to claim 11 ; and
a robot control device controlling operation of the robot.
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JP6111562B2 (en) | 2012-08-31 | 2017-04-12 | セイコーエプソン株式会社 | robot |
JP6332899B2 (en) | 2012-08-31 | 2018-05-30 | セイコーエプソン株式会社 | robot |
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JP5713047B2 (en) | 2013-04-18 | 2015-05-07 | 株式会社安川電機 | Mobile robot, mobile robot positioning system, and mobile robot positioning method |
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2012
- 2012-08-31 JP JP2012191462A patent/JP6332900B2/en active Active
-
2013
- 2013-08-28 CN CN201310381397.9A patent/CN103659814B/en active Active
- 2013-08-29 EP EP13182172.0A patent/EP2703132A3/en not_active Withdrawn
- 2013-08-30 US US14/014,964 patent/US9452529B2/en active Active
-
2016
- 2016-08-15 US US15/237,004 patent/US20160375581A1/en not_active Abandoned
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
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US9937620B2 (en) * | 2015-10-15 | 2018-04-10 | Fanuc Corporation | Robot system having function to calculate position and orientation of sensor |
Also Published As
Publication number | Publication date |
---|---|
EP2703132A2 (en) | 2014-03-05 |
US20140067125A1 (en) | 2014-03-06 |
JP2014046405A (en) | 2014-03-17 |
US9452529B2 (en) | 2016-09-27 |
CN103659814B (en) | 2017-03-01 |
CN103659814A (en) | 2014-03-26 |
JP6332900B2 (en) | 2018-05-30 |
EP2703132A3 (en) | 2016-03-16 |
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