Patent ID: 9302388
Filing Date: 2016-04-05
CPC Classification: B25J,Y10S

Claim Text:
1. A robot comprising: a base; a first arm that is coupled to the base and rotates with a first rotation axis as an axial center; a second arm that is coupled to the first arm and rotates with a second rotation axis in a direction different from the first rotation axis as an axial center; a third arm that rotates with a third rotation axis in a direction parallel to the second rotation axis as an axial center; a first drive source that rotates the first arm through a first angular velocity command; a first inertia sensor that is installed at the first arm and detects a first angular velocity or acceleration of the first rotation axis of the first arm; a first angle sensor that detects a rotation angle of the first drive source; a second drive source that rotates the second arm through a second angular velocity command; a second angle sensor that detects a rotation angle of the second drive source; a third drive source that rotates the third arm through a third angular velocity command; a second inertia sensor that is installed at the third arm and detects a second angular velocity or acceleration of the second rotation axis of the third arm; a third angle sensor that detects a rotation angle of the third drive source; a posture detection unit that detects a posture of the third arm with the second arm as a reference and derives a feedback gain; a first drive source control unit that feeds back a first correction component that is derived from the first angular velocity of the first rotation axis of the first arm obtained from the first inertia sensor and a third angular velocity of the first rotation axis of the first arm based on the rotation angle from the first angle sensor, and controls the first drive source; and a second drive source control unit that feeds back a second correction component that is obtained by multiplying a vibration component value by the feedback gain, and controls the second drive source, wherein the vibration component value is derived from the second angular velocity, a fourth angular velocity of the second rotation axis of the second arm, and a fifth angular velocity of the third rotation axis of the third arm, wherein the fourth angular velocity is based on the rotation angle from the second angle sensor and the fifth angular velocity is based on the rotation angle from the third angle sensor.