Patent ID: 9327409
Filing Date: 2016-05-03
CPC Classification: B25J,Y10S

Claim Text:
1. A robot comprising: a base; a first arm rotatably connected to the base around a first rotating axis; a second arm rotatably connected to the first arm around a second rotating axis, the second rotating axis being orthogonal to the first rotating axis; a third arm rotatably connected to the second arm around a third rotating axis, the third rotating axis being parallel to the second rotating axis; a first angular velocity sensor provided in the first arm, wherein the first angular velocity sensor is adapted to detect a first angular velocity around the first rotating axis of the first arm; and a second angular velocity sensor provided in the third arm, wherein the second angular velocity sensor is adapted to detect a composite angular velocity of a second angular velocity around the second rotating axis of the second arm and a third angular velocity around the third rotating axis of the third arm, wherein an angle between a detection axis of the first angular velocity sensor and the first rotating axis is a predetermined first angle, an angle between a detection axis of the second angular velocity sensor and the third rotating axis is a predetermined second angle, an a axis is orthogonal to the first rotating axis, and a b axis is orthogonal to both the first rotating axis and the a axis, an angle between the detection axis of the first angular velocity sensor and the first rotating axis around the a axis is α1, an angle between the detection axis of the first angular velocity sensor and the first rotating axis around the b axis is β1, the first angular velocity detected by the first angular velocity sensor with rotation around the first rotating axis of the first arm is ω1, and the first angular velocity around the first rotating axis of the first arm is output as ω1 cos α1 cos β1.