Patent ID: 9037293
Filing Date: 2015-05-19
Classification: B25J,G05B

Abstract:
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 orthogonal to the first 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 the angular velocity or acceleration of the first arm around the first rotation axis; a first angle sensor that detects the rotation angle of the first drive source; a second drive source that rotates the second arm through a second angular velocity command; a second inertia sensor that is installed at the second arm and detects the angular velocity or acceleration of the second arm around the second rotation axis; a second angle sensor that detects the rotation angle of the second drive source; a first drive source control unit that feeds back a first correction component, which is derived from an angular velocity ωA a second drive source control unit that feeds back a second correction component, which is derived from an angular velocity ωA