Patent Publication Number: US-2017371321-A1

Title: Robot, control device, and robot system

Description:
BACKGROUND 
     1. Technical Field 
     The present invention relates to a robot, a control device, and a robot system. 
     2. Related Art 
     There is known a robot including a base and a manipulator including a plurality of arms (links). One arm of adjacent two arms of the manipulator is turnably coupled to the other arm via a joint section. An arm at a most proximal end side (a most upstream side) is turnably coupled to the base via a joint section. The joint sections are driven by motors. The arms turn according to the driving of the joint sections. For example, a hand is detachably attached to an arm on a most distal end side (a most downstream side) as an end effector. For example, the robot grips a target object with the hand, moves the target object to a predetermined place, and performs predetermined work such as assembly. 
     JP-A-2013-833 (Patent Literature 1) discloses a robot controlled on the basis of a detection result of an angle sensor provided in a motor and a detection result of an angular velocity sensor provided in a manipulator. In the robot, it is possible to suppress vibration using the detection result of the angular velocity sensor. 
     A distortion amount of a reduction gear is sometimes corrected in order to improve accuracy of position in position control of the distal end portion of the manipulator. In such a case, it is necessary to integrate angular velocity detected by the angular velocity sensor and convert the angular velocity into information concerning a position. 
     However, an error due to offset is included in the detection result of the angular velocity sensor. When the position control is performed, if the offset is included, the offset is also integrated and accurate position information cannot be obtained. Consequently, accuracy of position is deteriorated. 
     SUMMARY 
     An advantage of some aspects of the invention is to solve at least a part of the problems described above, and the invention can be implemented as the following forms or application examples. 
     A robot according to an aspect of the invention includes: a movable section capable of moving; a driving section configured to drive the movable section; a transmitting section located between the movable section and the driving section; a first position detecting section configured to detect a position on an input side of the transmitting section; a second position detecting section configured to detect a position on an output side of the transmitting section; and an inertial sensor provided in the movable section. 
     With this configuration, it is possible to improve accuracy of position taking into account distortion and vibration of a portion further on the distal end side than the driving section. 
     In the robot according to the aspect of the invention, it is preferable that the driving section is driven on the basis of a detection result of the first position detecting section, a detection result of the second position detecting section, and a detection result of the inertial sensor. 
     With this configuration, it is possible to improve the accuracy of position taking into account distortion and vibration of the portion further on the distal end side than the driving section. 
     In the robot according to the aspect of the invention, it is preferable that the inertial sensor is located further on a distal end side of the movable section than the second position detecting section. 
     With this configuration, it is possible to accurately detect vibration. 
     In the robot according to the aspect of the invention, it is preferable that, when a first displacement amount of a distal end of the movable section due to deformation of the transmitting section at a time when an external force acts on the distal end of the movable section and a second displacement amount of the distal end of the movable section due to the deformation of the movable section at the time when the external force acts on the distal end of the movable section are compared, the second displacement amount is equal to or larger than 1/30 of the first displacement amount. 
     This is intended to exclude excessively high rigidity of the movable section. When the rigidity of the movable section is relatively low, it is possible to markedly improve the accuracy of position. 
     In the robot according to the aspect of the invention, it is preferable that an abnormality of at least one of the first position detecting section, the second position detecting section, the inertial sensor, the driving section, the transmitting section, and the movable section can be detected on the basis of a detection result of the first position detecting section, a detection result of the second position detecting section, and a detection result of the inertial sensor. 
     It is possible to detect an abnormality of at least one of the driving section, the transmitting section, and the movable section using the detection result of the first position detecting section, the detection result of the second position detecting section, and the detection result of the inertial sensor. When the abnormality is detected, it is possible to accurately cope with the abnormality. 
     In the robot according to the aspect of the invention, it is preferable that the movable section includes a plurality of arms. 
     With this configuration, it is possible to perform various kinds of operation. Therefore, it is possible to efficiently perform various kinds of work. It is possible to improve the accuracy of position in the work. 
     In the robot according to the aspect of the invention, it is preferable that the transmitting section includes a reduction gear. 
     With this configuration, it is possible to obtain a large driving force using the driving section having a small driving force. It is possible to change driving speed of the driving section to necessary driving speed, for example, change rotational speed of the driving section to necessary rotational speed. 
     A control device according to an aspect of the invention controls the robot according to the aspect of the invention. 
     With this configuration, it is possible to improve the accuracy of position taking into account deformation and vibration of the portion further on the distal end side than the driving section. 
     In the control device according to the aspect of the invention, it is preferable that the control device includes: a low-pass filter provided on an output side of the second position detecting section; and a high-pass filter provided on an output side of the inertial sensor. 
     With this configuration, it is possible to accurately remove or reduce a noise component. It is possible to improve the accuracy of position. 
     In the control device according to the aspect of the invention, it is preferable that the control device includes: a calculating section configured to perform calculation on the basis of a detection result of the second position detecting section and a detection result of the inertial sensor; and a high-pass filter provided on an output side of the calculating section. 
     With this configuration, it is possible to accurately remove or reduce a noise component. It is possible to improve the accuracy of position. 
     A robot system according to an aspect of the invention includes: the robot according to the aspect of the invention; and a control device that controls the robot. 
     With this configuration, it is possible to improve the accuracy of position taking into account distortion and vibration of the portion further on the distal end side than the driving section. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
       The invention will be described with reference to the accompanying drawings, wherein like numbers reference like elements. 
         FIG. 1  is a sectional view (partially a sectional view) showing a robot system according to a first embodiment of the invention. 
         FIG. 2  is a block diagram of a main part of the robot system shown in  FIG. 1 . 
         FIG. 3  is a block diagram showing a configuration example of a circuit that processes outputs of an angular velocity sensor and a second angle sensor of a control section in a robot system according to a second embodiment of the invention. 
         FIG. 4  is a block diagram showing a configuration example of the circuit that processes outputs of the angular velocity sensor and the second angle sensor of the control section in the robot system according to the second embodiment of the invention. 
         FIG. 5  is a block diagram showing a configuration example of the circuit that processes outputs of the angular velocity sensor and the second angle sensor of the control section in the robot system according to the second embodiment of the invention. 
         FIG. 6  is a block diagram showing a configuration example of the circuit that processes outputs of the angular velocity sensor and the second angle sensor of the control section in the robot system according to the second embodiment of the invention. 
         FIG. 7  is a side view (partially a sectional view) showing a robot system according to a third embodiment of the invention. 
         FIG. 8  is a perspective view showing a robot system according to a fourth embodiment of the invention. 
         FIG. 9  is a schematic diagram of a robot of the robot system shown in  FIG. 8 . 
         FIG. 10  is a block diagram of a main part of the robot system shown in  FIG. 8 . 
     
    
    
     DESCRIPTION OF EXEMPLARY EMBODIMENTS 
     A robot, a control device, and a robot system according to embodiments of the invention are explained below with reference to the accompanying drawings. 
     First Embodiment 
       FIG. 1  is a side view (partially a sectional view) showing a robot system according to a first embodiment of the invention.  FIG. 2  is a block diagram of a main part of the robot system shown in  FIG. 1 . 
     Note that, in the following explanation, for convenience of explanation, an upper side in  FIG. 1  is referred to as “upper” or “upward” and a lower side in the figure is referred to as “lower” or “downward” (the same applies to  FIGS. 7 and 8 ). A base side in  FIG. 1  is referred to as “proximal end” or “upstream” and the opposite side of the base side is referred to as “distal end” or “downstream” (the same applies to  FIGS. 7 and 8 ). An up-down direction in  FIG. 1  is the vertical direction (the same applies to  FIGS. 7 and 8 ). 
     A robot system  100  shown in  FIGS. 1 and 2  includes a robot  1  and a control device  20  that controls the robot  1 . The robot  1  includes a base  11  and a manipulator  10  (a robot arm). In this embodiment, the manipulator  10  includes, on the base  11 , one arm  19  provided to be capable of turning around a turning axis O. 
     The control device  20  can be configured by, for example, a personal computer (PC) incorporating a CPU (Central Processing Unit). The control device  20  includes a control section  200  that controls actuation (driving) of sections of a motor  401 M and the like explained below of the robot  1 , an abnormality detecting section  21  that performs abnormality detection, a storing section  22  that stores various kinds of information, and the like. The abnormality detecting section includes an abnormal-part specifying section  211  that specifies an abnormal part of the robot  1 . Note that a part or the entire control device  20  may be incorporated in the robot  1 . The control device  20  may be separate from the robot  1 . The robot  1  is explained in detail below. 
     The robot  1  includes an arm  19 , which is an example of a movable section capable of moving, a motor  401 M, which is an example of a driving section configured to drive the movable section, a motor driver  301  that drives the motor  401 M, a reduction gear  501 , which is an example of a transmitting section (a power transmitting section) located between the movable section and the driving section, a first angle sensor  411 , which is an example of a first position detecting section configured to detect a position on an input side of the transmitting section, a second angle sensor  511 , which is an example of a second position detecting section configured to detect a position on an output side of the transmitting section, and an angular velocity sensor  31 , which is an example of an inertial sensor provided in the movable section. 
     The motor  401 M is driven on the basis of a detection result of the first angle sensor  411 , a detection result of the second angle sensor  511 , and a detection result of the angular velocity sensor  31  according to the control by the control device  20 . 
     Note that the movement of the movable section is not limited to movement on a straight line and a curve and is, for example, a concept including all movements (displacements) such as turning. The position includes an angle (a rotation angle). 
     The input side of the transmitting section refers to a driving section side of the transmitting section. In this embodiment, the input side of the transmitting section is an input shaft of the reduction gear  501 . A rotation angle of the input shaft of the reduction gear  501  is the same as a rotation angle of a rotating shaft of the motor  401 M. Therefore, in this embodiment, the rotation angle of the rotating shaft of the motor  401 M is detected as a position on the input side of the transmitting section. 
     The output side of the transmitting section refers to a side of the transmitting section opposite to the driving section, that is, a movable section side of the transmitting section. In this embodiment, the output side of the transmitting section is an output shaft of the reduction gear  501 . A rotation angle of the output shaft of the reduction gear  501  is the same as a rotation angle of the proximal end portion of the arm  19 . In this embodiment, the rotation angle of the output shaft of the reduction gear  501  is detected as a position on the output side of the transmitting section. 
     The base  11  is a portion fixed (set) on, for example, a floor of a setting space. A method of fixing the base  11  is not particularly limited. Examples of the method include a fixing method by a plurality of bolts. 
     The proximal end portion of the arm  19  is coupled to the base  11 . The arm  19  has the turning axis O extending along the vertical direction, that is, the turning axis O parallel to the vertical direction as a turning center and is capable of turning around the turning axis O with respect to the base  11 . Note that, for example, in the case of two axes, “parallel” not only indicates that the two axes are completely parallel but also indicates that one axis inclines within a range of ±5° or less with respect to the other axis. 
     The motor  401 M, which is a driving section that turns the arm  19 , and the reduction gear  501  are set in the base  11 . The motor  401 M and the reduction gear  501  are fixed to the base  11 . The input shaft of the reduction gear  501  is coupled to the rotating shaft of the motor  401 M. The output shaft of the reduction gear  501  is coupled to the arm  19 . Therefore, when the motor  401 M is driven and a driving force of the motor  401 M is transmitted to the arm  19  via the reduction gear  501 , the arm  19  turns within a horizontal plane around the turning axis O with respect to the base  11 . 
     The motor  401 M is not particularly limited. It is desirable to use a servomotor such as an AC servomotor or a DC servomotor. 
     The reduction gear  501  is not particularly limited. Examples of the reduction gear  501  include a strain wave gearing, that is, a harmonic drive (“harmonic drive” is a registered trademark), and a gear reducer. 
     Note that, in this embodiment, the transmitting section is a power transmitting section that transmits power. The transmitting section is configured by the reduction gear  501 . However, the transmitting section may include other members besides the reduction gear  501 . That is, the transmitting section only has to be configured by a mechanism including the reduction gear  501 . Consequently, it is possible to obtain a large driving force using the motor  401 M having a small driving force. It is possible to change the rotational speed of the motor  401 M to necessary rotational speed. Note that the transmitting section may be configured by a mechanism not having a speed reducing function. 
     The rigidity of the arm  19 , the reduction gear  501 , and the like is not particularly limited. When a first displacement amount of the distal end of the arm  19  due to deformation of the reduction gear  501  at the time when an external force acts on the distal end of the arm  19  and a second displacement amount of the distal end of the arm  19  due to deformation of the arm  19  at the time when the same external force acts on the distal end of the arm  19  are compared, the second displacement amount is desirably equal to or larger than 1/30 of the first displacement amount. This is intended to exclude excessively high rigidity of the arm  19 . When the rigidity of the arm  19  is relatively low, it is possible to markedly improve accuracy of position. 
     The second displacement amount is more desirably equal to or larger than 1/30 of the first displacement amount and equal to or smaller than 30 and still more desirably equal to or larger than 1/10 of the first displacement amount and equal to or smaller than 10. 
     In the motor  401 M, a first angle sensor  411  that detects a rotation angle (a rotation amount) of the rotating shaft of the motor  401 M with respect to the base  11  is set. It is possible to detect the rotation angle of the rotating shaft of the motor  401 M with respect to the base  11 , that is, a rotation angle of the input shaft of the reduction gear  501  on the basis of a detection result (an output) of the first angle sensor  411 . In the following explanation, the rotation angle of the rotating shaft of the motor  401 M is also referred to as rotation angle of the motor  401 M. 
     Note that, in this embodiment, the motor  401 M, the reduction gear  501 , and the first angle sensor  411  are disposed below the arm  19 . 
     In the base  11 , the second angle sensor  511  that detects a rotation angle of the output shaft of the reduction gear  501  with respect to the base  11  is set. It is possible to detect the rotation angle of the output shaft of the reduction gear  501  with respect to the base  11 , that is, a rotation angle of the arm  19  on the basis of a detection result of the second angle sensor  511 . In this embodiment, the second angle sensor  511  is disposed above the arm  19 . 
     The first angle sensor  411  and the second angle sensor  511  are not particularly limited. Examples of each of the first and second angle sensors  411 ,  511  include an encoder, a resolver, and a potentiometer. 
     The angular velocity sensor  31  is set in the arm  19 . The position of the angular velocity sensor  31  in the arm  19  is not particularly limited. However, in this embodiment, the angular velocity sensor  31  is located further on the distal end side of the arm  19  than the second angle sensor  511 . That is, the angular velocity sensor  31  is disposed at the distal end portion of the arm  19 . Consequently, it is possible to accurately detect, with the angular velocity sensor  31 , angular velocity due to vibration of the arm  19 . 
     The inertial sensor is not limited to the angular velocity sensor. Examples of the inertial sensor include an acceleration sensor. In this embodiment, one angular velocity sensor  31  is provided. However, a plurality of angular velocity sensors  31  may be provided. 
     A not-shown end effector can be detachably attached to the distal end portion of the arm  19 . The end effector is not particularly limited. Examples of the end effector include an end effector that grips a target object and an end effector that machines a target object. 
     In operating the robot  1 , the control device  20  performs detection with the first angle sensor  411 , the second angle sensor  511 , and the angular velocity sensor  31  and controls the driving of the motor  401 M on the basis of results of the detection. Note that it is possible to calculate a rotation angle due to vibration on the basis of the detection result of the first angle sensor  411  and the detection result of the second angle sensor  511 . It is possible to calculate angular velocity due to vibration on the basis of the detection result of the first angle sensor  411  and the detection result of the angular velocity sensor  31 . Examples of the control of the robot  1  include position control, speed control, force control, and damping control. Note that a control program is stored in advance in the storing section  22  of the control device  20 . 
     In the robot system  100 , it is possible to detect an abnormality of a predetermined portion of the robot  1 , that is, at least one of the first angle sensor  411 , the second angle sensor  511 , the angular velocity sensor  31 , the motor  401 M, the reduction gear  501 , and the arm  19  on the basis of the detection result of the first angle sensor  411 , the detection result of the second angle sensor  511 , and the detection result of the angular velocity sensor  31 . The abnormality detection is performed by the abnormality detecting section  21  of the control device  20 . In the abnormality detection, an abnormal part of the robot  1  is specified by the abnormal-part specifying section  211  of the abnormality detecting section  21 . The abnormality detection is explained below. 
     The abnormality detection includes three kinds of processing (1) to (3). The abnormality detecting section  21  performs two or more kinds of processing among the three kinds of processing. The abnormality detecting section  21  specifies an abnormal part using a result of the processing. 
     (1) The abnormality detecting section  21  compares a value obtained by dividing an output value of the first angle sensor  411  by a reduction gear ratio of the reduction gear  501  and an output value of the second angle sensor  511 . 
     (2) The abnormality detecting section  21  compares a differential value of the value obtained by dividing the output value of the first angle sensor  411  by the reduction gear ratio of the reduction gear  501  and an output value of the angular velocity sensor  31 . 
     (3) The abnormality detecting section  21  compares a differential value of the output value of the second angle sensor  511  and the output value of the angular velocity sensor  31 . 
     In each of the kinds of processing (1) to (3), the abnormality detecting section  21  determines whether the values are the same as a result of performing the comparison. “The same” is not limited to complete equality of the values and includes values having a difference in a degree of an error, for example, a difference of ±5% or less. The error is not limited to a ratio of the values and may be a fixed value. For example, ±5% of maximum speed may be set as an allowable error. Note that a numerical value of “±5%” can be set as appropriate according to conditions. In the following explanation, as a result of performing the comparison, when the values are the same, the values are simply referred to as “the same” and, when the values are different, the values are simply referred to as “different”. 
     In the abnormality detection, according to which of the values is “different” or which of the values is “the same”, it is possible to determine whether there is an abnormality and, when there is an abnormality, which part is an abnormal part. The abnormality detection is specifically explained with reference to Table 1 below. 
     
       
         
           
               
               
             
               
                   
                 TABLE 1 
               
             
            
               
                   
                   
               
               
                   
                 Determination during comparison 
               
            
           
           
               
               
               
               
               
            
               
                   
                   
                 (1) First 
                 (2) First 
                 (3) Second 
               
               
                   
                   
                 angle 
                 angle 
                 angle 
               
               
                   
                 Influence 
                 sensor and 
                 sensor and 
                 sensor and 
               
            
           
           
               
               
               
               
               
               
               
            
               
                 Ab- 
                 First 
                 Second 
                 Angular 
                 second 
                 angular 
                 angular 
               
               
                 normal 
                 angle 
                 angle 
                 velocity 
                 angle 
                 velocity 
                 velocity 
               
               
                 part 
                 sensor 
                 sensor 
                 sensor 
                 sensor 
                 sensor 
                 sensor 
               
               
                   
               
               
                 First 
                 Yes 
                 No 
                 No 
                 Different 
                 Different 
                 Same 
               
               
                 angle 
               
               
                 sensor 
               
               
                 Re- 
                 No 
                 Yes 
                 Yes 
                 Different 
                 Different 
                 Same 
               
               
                 duction 
               
               
                 gear 
               
               
                 Second 
                 No 
                 Yes 
                 No 
                 Different 
                 Same 
                 Different 
               
               
                 angle 
               
               
                 sensor 
               
               
                 Arm 
                 No 
                 No 
                 Yes 
                 Same 
                 Different 
                 Different 
               
               
                 Angular 
                 No 
                 No 
                 Yes 
                 Same 
                 Different 
                 Different 
               
               
                 velocity 
               
               
                 sensor 
               
               
                   
               
            
           
         
       
     
     First, as shown in Table 1, when the abnormal part is the first angle sensor  411 , only the first angle sensor  411  is affected. 
     When the abnormal part is the reduction gear  501 , the second angle sensor  511  and the angular velocity sensor  31  are affected. The first angular sensor  411  is not affected. 
     When the abnormal part is the second angle sensor  511 , only the second angle sensor  511  is affected. 
     When the abnormal part is the arm  19 , only the angular velocity sensor  31  is affected. 
     When the abnormal part is the angular velocity sensor  31 , only the angular velocity sensor  31  is affected. 
     When the relation explained above is taken into account, it is possible to detect an abnormality and specify a part of the abnormality by performing two or more kinds of processing among the kinds of processing (1) to (3) and using a result of the processing. 
     First, abnormality detection performed by the kinds of processing (1) and (2) is explained. 
     When determining “different” in the respective kinds of processing (1) and (2), the abnormality detecting section  21  determines that at least one of the first angle sensor  411  and the reduction gear  501  is abnormal. 
     When determining “different” only in the processing (1), the abnormality detecting section  21  determines that the second angle sensor  511  is abnormal. 
     When determining “different” only in the processing (2), the abnormality detecting section  21  determines that at least one of the angular velocity sensor  31  and the arm  19  is abnormal. 
     Abnormality detection performed by the kinds of processing (1) and (3) is explained. 
     When determining “different” only in the processing (1), the abnormality detecting section  21  determines that at least one of the first angle sensor  411  and the reduction gear  501  is abnormal. 
     When determining “different” in the respective kinds of processing (1) and (3), the abnormality detecting section  21  determines that the second angle sensor  511  is abnormal. 
     When determining “different” only in the processing (3), the abnormality detecting section  21  determines that at least one of the angular velocity sensor  31  and the arm  19  is abnormal. 
     Abnormality detection performed by the kinds of processing (2) and (3) is explained. 
     When determining “different” only in the processing (2), the abnormality detecting section  21  determines that at least one of the first angle sensor  411  and the reduction gear  501  is abnormal. 
     When determining “different” only in the processing (3), the abnormality detecting section  21  determines that the second angle sensor  511  is abnormal. 
     When determining “different” in the respective kinds of processing (2) and (3), the abnormality detecting section  21  determines that at least one of the angular velocity sensor  31  and the arm  19  is abnormal. 
     As explained above, it is possible to detect an abnormality by performing two kinds of processing among the kinds of processing (1) to (3) and using a result of the processing. However, an abnormality may be detected by performing all of the kinds of processing (1) to (3) and using a result of the processing. In this case, when there is an abnormality in one part, the number of “different” is always two (an even umber) in the kinds of processing (1) to (3). Therefore, when the number of “different” is one or three (an odd number) in the kinds of processing (1) to (3), the abnormality detecting section  21  determines that abnormalities are likely to be present in a plurality of parts. 
     In the following explanation, the abnormality detection is performed using the detection results of all of the first angle sensor  411 , the second angle sensor  511 , and the angular velocity sensor  31 , in the embodiment, the differential value of the value obtained by dividing the output value of the first angle sensor  411  by the reduction gear ratio of the reduction gear  501 , the differential value of the output value of the second angle sensor  511 , and the output value of the angular speed sensor  31 . The differential value of the value obtained by dividing the output value of the first angle sensor  411  by the reduction gear ratio of the reduction gear  501  is simply referred to as “converted value of the first angle sensor  411 ”. The differential value of the output value of the second angle sensor  511  is simply referred to as “converted value of the second angle sensor  511 ”. 
     First, when there is an abnormality in any one part of the robot  1 , only one value of the converted value of the first angle sensor  411 , the converted value of the second angle sensor  511 , and the output value of the angular velocity sensor  31  is greatly different compared with the other two values. Therefore, dispersion of the converted value of the first angle sensor  411 , the converted value of the second angle sensor  511 , and the output value of the angular velocity sensor  31  is large. Therefore, the abnormality detecting section  21  calculates the dispersion and compares the dispersion with a threshold set in advance. When the dispersion is larger than the threshold, the abnormality detecting section  21  determines that there is an abnormality in any one part of the robot  1 . When the dispersion is equal to or smaller than the threshold, the abnormality detecting section  21  determines that the sensors are normal. Note that a standard deviation may be used instead of the dispersion. 
     When there is an abnormality, the sensor having the largest difference from an average or the vicinity of the sensor is an abnormal part. The abnormality detection is specifically explained with reference to Table 2 below. 
     
       
         
           
               
               
               
               
               
               
             
               
                   
                 TABLE 2 
               
               
                   
                   
               
               
                   
                 First 
                 Second 
                 Angular 
                   
                   
               
               
                   
                 angle 
                 angle 
                 velocity 
               
               
                   
                 sensor 
                 sensor 
                 sensor 
               
               
                   
                 [deg/sec] 
                 [deg/sec] 
                 [deg/sec] 
                 Dispersion 
                 Determination 
               
               
                   
                   
               
             
            
               
                   
               
            
           
           
               
               
               
               
               
               
            
               
                 Scene 1 
                 100 
                 98 
                 101 
                 2.33 
                 Normal 
               
               
                 Scene 2 
                 100 
                 98 
                 0 
                 3268 
                 Abnormal 
               
               
                 Scene 3 
                 31 
                 30 
                 31 
                 0.333 
                 Normal 
               
               
                 Scene 4 
                 30 
                 500 
                 31 
                 73320 
                 Abnormal 
               
               
                   
               
            
           
         
       
     
     First, scenes shown in Table 2 are explained. In a scene 1 and a scene 3, the robot  1  is normal. In a scene 2, there is an abnormality in the angular velocity sensor  31  or the vicinity of the angular velocity sensor  31 . In a scene 4, there is an abnormality in the second angle sensor  511  or the vicinity of the second angle sensor  511 . Before the abnormality detection is performed, this information is not known. 
     The abnormality detection is explained below with reference to such a case as an example. Note that, in the abnormality detection, as an example, the threshold is set to “100”. 
     In the scene 1, the dispersion is small. When the dispersion and the threshold “100” are compared, the dispersion is equal to or smaller than the threshold. The abnormality detecting section  21  determines that the sensors are normal. 
     In the scene 2, the dispersion is large. When the dispersion and the threshold “100” are compared, the dispersion is larger than the threshold. The abnormality detecting section  21  determines that there is an abnormality. A difference between the output value of the angular velocity sensor  31  and the average is the largest. Therefore, the abnormality detecting section  21  determines that an abnormal part is the angular velocity sensor  31  or the vicinity of the angular velocity sensor  31 . 
     In the scene 3, the dispersion is small. When the dispersion and the threshold “100” are compared, the dispersion is equal to or smaller than the threshold. The abnormality detecting section  21  determines that the sensors are normal. 
     In the scene 4, the dispersion is large. When the dispersion and the threshold “100” are compared, the dispersion is larger than the threshold. The abnormality detecting section  21  determines that there is an abnormality. A difference between the converted value of the second angle sensor  511  and the average is the largest. Therefore, the abnormality detecting section  21  determines that an abnormal part is the second angle sensor  511  or the vicinity of the second angle sensor  511 . 
     As explained above, in the robot system  100 , it is possible to improve the accuracy of position taking into account distortion and vibration of a portion further on the distal end side than the motor  401 M. It is possible to suppress the vibration. 
     With the abnormality detecting section  21 , it is possible to detect an abnormality concerning the reduction gear  501 , the arm  19 , the first angle sensor  411 , the second angle sensor  511 , and the angular velocity sensor  31  and specify an abnormal part. When an abnormality is detected, it is possible to accurately cope with the abnormality by, for example, stopping the robot  1 , replacing components, and performing repairing. 
     Second Embodiment 
       FIGS. 3 to 6  are respectively block diagrams showing configuration examples of a circuit that processes outputs of an angular velocity sensor and a second angle sensor of a control section of a robot system according to the second embodiment of the invention. 
     The second embodiment is explained below. Differences from the first embodiment are mainly explained. Explanation of similarities is omitted. 
     First, before the explanation of the second embodiment, it is checked what the first angle sensor  411 , the second angle sensor  511 , and the angular velocity sensor  31  respectively detect. 
     The first angle sensor  411  detects a rotation angle corresponding to a target motion of the arm  19 . 
     The second angle sensor  511  detects the rotation angle corresponding to the target motion of the arm  19  and a rotation angle due to vibration of the reduction gear  501 . 
     The angular velocity sensor  31  detects angular velocity corresponding to the target motion of the arm  19 , angular velocity due to vibration of the arm  19 , and angular velocity due to the vibration of the reduction gear  501 . Offset is included in an output value of the angular velocity sensor  31 . 
     A configuration example of a circuit that calculates angular velocity on the arm  19  side on the basis of detection results of the second angle sensor  511  and the angular velocity sensor  31  in the control section  200  is explained. The angular velocity on the arm  19  side is angular velocity obtained by combining the angular velocity corresponding to the target motion of the arm  19 , the angular velocity due to the vibration of the arm  19 , and the angular velocity due to the vibration of the reduction gear  501 . 
     Configuration Example 1 
     As shown in  FIG. 3 , the control section  200  includes a low-pass filter  62  provided an output side of the second angle sensor  511  and a high-pass filter  63  provided on an output side of the angular velocity sensor  31 . This configuration example is specifically explained below. 
     The control section  200  includes a differentiating circuit  61 , the low-pass filter  62 , the high-pass filter  63 , and an adder  64 . 
     The differentiating circuit  61  is connected to the output side of the second angle sensor  511 . The low-pass filter  62  is connected to the output side of the differential circuit  61 . The high-pass filter  63  is connected to the output side of the angular velocity sensor  31 . The adder  64  is connected to output sides of the low-pass filter  62  and the high-pass filter  63 . 
     In this circuit, an output of the second angle sensor  511 , that is, a signal indicating a rotation angle detected by the second angle sensor  511  is converted from an analog signal into a digital signal by a not-shown AD converter and thereafter converted into a signal indicating angular velocity by the differentiating circuit  61 . The signal is processed by the low-pass filter  62 . A high-frequency component is removed or reduced. 
     An output of the angular velocity sensor  31 , that is, a signal indicating angular velocity detected by the angular velocity sensor  31  is converted from an analog signal into a digital signal by a not-shown AD converter and thereafter processed by the high-pass filter  63 . A low-frequency component is removed or reduced. 
     The signal output from the low-pass filter  62  and the signal output from the high-pass filter  63  are added up by the adder  64  and an added-up signal is output. This signal is a signal indicating angular velocity on the arm  19  side. 
     It is explained what kinds of information are mainly included in the signals. 
     First, the signal output from the second angle sensor  511  is a signal including information concerning the rotation angle corresponding to the target motion of the arm  19  and information concerning the rotation angle due to the vibration of the reduction gear  501 . 
     The signal output from the low-pass filter  62  is a signal including information concerning a low-frequency component of the angular velocity corresponding to the target motion of the arm  19  and information concerning angular velocity due to primary mode vibration in the vibration of the reduction gear  501 . Information concerning a high-frequency component of the angular velocity corresponding to the target motion of the arm  19  and information concerning angular velocity due to secondary mode vibration in the vibration of the reduction gear  501  are removed by the low-pass filter  62 . 
     The signal output from the angular velocity sensor  31  is a signal including information concerning the angular velocity corresponding to the target motion of the arm  19 , information concerning the angular velocity due to the vibration of the arm  19 , information concerning the angular velocity due to the vibration of the reduction gear  501 , and information concerning offset. 
     The signal output from the high-pass filter  63  is a signal including the information concerning a high-frequency component of the angular velocity corresponding to the target motion of the arm  19 , information concerning an angular velocity due to secondary mode vibration in the vibration of the arm  19 , and the information concerning the angular velocity due to the secondary mode vibration in the vibration of the reduction gear  501 . Note that the information concerning the low-frequency component of the angular velocity corresponding to the target motion of the arm  19 , the information concerning the angular velocity due to the primary mode vibration in the vibration of the arm  19 , the information concerning the angular velocity due to the primary mode vibration in the vibration of the reduction gear  501 , and the information concerning the offset are removed by the high-pass filter  63 . 
     The signal indicating the angular velocity on the arm  19  side output from the adder  64  is a signal including the information concerning the angular velocity corresponding to the target motion of the arm  19  and information concerning angular velocity due to the primary mode vibration and the secondary mode vibration concerning the arm  19  and the reduction gear  501 . Note that a phase of the primary mode vibration of the reduction gear  501  detected by the second angle sensor  511  and a phase of the primary mode vibration of the arm  19  detected by the angular velocity sensor  31  are the same phase. Therefore, the information concerning the angular velocity due to the primary mode vibration of the arm  19  is complemented by the information concerning the angular velocity due to the primary mode vibration of the reduction gear  501  output from the low-pass filter  62 . 
     In the configuration example 1, it is possible to respectively use highly accurate portions concerning the outputs of the second angle sensor  511  and the angular velocity sensor  31 . It is possible to accurately remove or reduce a noise component. It is possible to accurately operate the robot  1  by controlling the robot  1  using an output of the circuit. 
     Configuration Example 2 
     As shown in  FIG. 4 , the control section  200  includes a subtracter  65 , which is an example of a calculating section that performs calculation on the basis of the detection result of the second angle sensor  511  and the detection result of the angular velocity sensor  31  and the high-pass filter  63  provided on an output side of the subtracter  65 . This configuration example is specifically explained below. 
     The control section  200  includes the differentiating circuit  61 , the subtracter  65 , the high-pass filter  63 , and the adder  64 . 
     The differentiating circuit  61  is connected to the output side of the second angle sensor  511 . The subtracter  65  is connected to the output sides of the differentiating circuit  61  and the angular velocity sensor  31 . The high-pass filter  63  is connected to the output side of the subtracter  65 . The adder  64  is connected to the output sides of the differentiating circuit  61  and the high-pass filter  63 . 
     In this circuit, the output of the second angle sensor  511 , that is, the signal indicating the rotation angle detected by the second angle sensor  511  is converted from an analog signal into a digital signal by a not-shown AD converter and thereafter converted into a signal indicating angular velocity by the differentiating circuit  61 . 
     The output of the angular velocity sensor  31 , that is, the signal indicating the angular velocity detected by the angular velocity sensor  31  is converted from an analog signal into a digital signal by a not-shown AD converter. The signal output from the differentiating circuit  61  is subtracted from the converted signal by the subtracter  65 . The signal output from the subtracter  65  is processed by the high-pass filter  63 . A low-frequency component is removed or reduced. 
     The signal output from the differentiating circuit  61  and the signal output from the high-pass filter  63  are added up by the adder  64  and an added-up signal is output. This signal is a signal indicating angular velocity on the arm  19  side. 
     It is explained what kinds of information are mainly included in the signals. 
     First, the signal output from the second angle sensor  511  is a signal including the information concerning the rotation angle corresponding to the target motion of the arm  19  and the information concerning the rotation angle due to the vibration of the reduction gear  501 . 
     The signal output from the angular velocity sensor  31  is a signal including the information concerning the angular velocity corresponding to the target motion of the arm  19 , the information concerning the angular velocity due to the vibration of the arm  19 , the information concerning the angular velocity due to the vibration of the reduction gear  501 , and the information concerning the offset. 
     The signal output from the subtracter  65  is a signal including the information concerning the angular velocity due to the vibration of the arm  19  and the information concerning the offset. 
     The signal output from the high-pass filter  63  is a signal including the information concerning the angular velocity due to the vibration of the arm  19 . Note that the information concerning the offset is removed by the high-pass filter  63 . 
     The signal indicating the angular velocity on the arm  19  side output from the adder  64  is a signal including the information concerning the angular velocity corresponding to the target motion of the arm  19 , the information concerning the angular velocity due to the vibration of the arm  19 , and the information concerning the angular velocity due to the vibration of the reduction gear  501 . 
     In the configuration example 2, the number of filters is small compared with the configuration example 1. Therefore, there is an advantage that computational complexity is small. In the configuration example 2, an effect same as the effect in the configuration example 1 is obtained. 
     A configuration example of a circuit that calculates a rotation angle on the arm  19  side on the basis of the detection results of the second angle sensor  511  and the angular velocity sensor  31  in the control section  200  is explained. The rotation angle on the arm  19  side is a rotation angle obtained by combining the rotation angle corresponding to the target motion of the arm  19 , the rotation angle due to the vibration of the arm  19 , and the rotation angle due to the vibration of the reduction gear  501 . 
     Configuration Example 3 
     As shown in  FIG. 5 , the control section  200  includes an integrating circuit  66 , the low-pass filter  62 , the high-pass filter  63 , and the adder  64 . In the configuration example 3, the differentiating circuit  61  is omitted and the integrating circuit  66  is provided in the configuration example 1. Therefore, a part of explanation of the configuration example 3 is omitted. 
     The low-pass filter  62  is connected to the output side of the second angle sensor  511 . The integrating circuit  66  is connected to the output side of the angular velocity sensor  31 . The high-pass filter  63  is connected to an output side of the integrating circuit  66 . The adder  64  is connected to the output sides of the low-pass filter  62  and the high-pass filter  63 . 
     In this circuit, an output of the second angle sensor  511 , that is, a signal indicating the rotation angle detected by the second angle sensor  511  is converted from an analog signal into a digital signal by a not-shown AD converter and thereafter processed by the low-pass filter  62 . A high-frequency component is removed or reduced. 
     An output of the angular velocity sensor  31 , that is, a signal indicating the angular velocity detected by the angular velocity sensor  31  is converted from an analog signal into a digital signal by a not-shown AD converter and thereafter converted into a signal indicating a rotation angle by the integrating circuit  66 . The signal is processed by the high-pass filter  63 . A low-frequency component is removed or reduced. 
     The signal output from the low-pass filter  62  and the signal output from the high-pass filter  63  are added up by the adder  64  and output. This signal is a signal indicating a rotation angle on the arm  19  side. 
     In this configuration example 3, it is possible to respectively use highly accurate portions concerning the outputs of the second angle sensor  511  and the angular velocity sensor  31 . It is possible to accurately operate the robot  1  by controlling the robot  1  using an output of the circuit. 
     Configuration Example 4 
     As shown in  FIG. 6 , the control section  200  includes the integrating circuit  66 , the subtracter  65 , the high-pass filter  63 , and the adder  64 . In the configuration example 4, the differentiating circuit  61  is omitted and the integrating circuit  66  is provided in the configuration example 2. Therefore, a part of explanation of the configuration example 4 is omitted. 
     The integrating circuit  66  is connected to the output side of the angular velocity sensor  31 . The subtracter  65  is connected to the output sides of the integrating circuit  66  and the second angle sensor  511 . The high-pass filter  63  is connected to the output side of the subtracter  65 . The bypass filter  63  is connected to the outputs side of the subtracter  65 . The adder  64  is connected to the output sides of the second angle sensor  511  and the high-pass filter  63 . 
     In this circuit, an output of the second angle sensor  511 , that is, a signal indicating the rotation angle detected by the second angle sensor  511  is converted from an analog signal into a digital signal by a not-shown AD converter. 
     An output of the angular velocity sensor  31 , that is, a signal indicating the angular velocity detected by the angular velocity sensor  31  is converted from an analog signal into a digital signal by a not-shown AD converter and thereafter converted into a signal indicating a rotation angle by the integrating circuit  66 . The signal output from the second angle sensor  511  is subtracted from the converted signal by the subtracter  65 . The signal output from the subtracter  65  is processed by the high-pass filter  63 . A low-frequency component is removed or reduced. 
     The signal output from the second angle sensor  511  and the signal output from the high-pass filter  63  are added up by the adder  64  and an added-up signal is output. This signal is a signal indicating a rotation angle on the arm  19  side. 
     In the configuration example 4, compared with the configuration example 3, the number of filters is small. Therefore, there is an advantage that computational complexity is small. In the configuration example 4, an effect same as the effect in the configuration example 3 is obtained. 
     The robot  1  is controlled on the basis of the angular velocity on the arm  19  side, the rotation angle on the arm  19  side, and the like calculated by the circuits in the configuration examples 1 to 4. Consequently, it is possible to accurately operate the robot  1 . 
     According to the second embodiment explained above, it is possible to exhibit an effect same as the effect in the first embodiment. 
     Third Embodiment 
       FIG. 7  is a side view (partially a sectional view) showing a robot system according to a third embodiment of the invention. 
     The third embodiment is explained below. Differences from the embodiments explained above are mainly explained. Explanation of similarities is omitted. 
     As shown in  FIG. 7 , in the third embodiment, the second angle sensor  511  is disposed below the arm  19  and set on the reduction gear  501 . Therefore, all of the motor  401 M, the reduction gear  501 , the first angle sensor  411 , and the second angle sensor  511  are located on the same side with respect to the arm  19 , that is, below the arm  19 . Consequently, it is possible to reduce the dimension of the base  11 . It is possible to achieve a reduction in the size of the robot  1 . 
     According to the third embodiment explained above, it is possible to exhibit an effect same as the effect in the embodiments explained above. 
     Fourth Embodiment 
       FIG. 8  is a perspective view showing a robot system according to a fourth embodiment of the invention.  FIG. 9  is a schematic diagram of the robot system shown in  FIG. 8 .  FIG. 10  is a block diagram of a main part of the robot system shown in  FIG. 8 . 
     The fourth embodiment is explained below. Differences from the embodiments explained above are mainly explained. Explanation of similarities is omitted. 
     In the fourth embodiment, a movable section includes a plurality of arms. Consequently, it is possible to perform various kinds of operation. Therefore, it is possible to efficiently perform various kinds of work. Note that each of the plurality of arms can be defined as the movable section. The fourth embodiment is specifically explained below. 
     In the fourth embodiment shown in  FIGS. 8 to 10 , the robot  1  includes the base  11  and the manipulator  10  (the robot arm). 
     The manipulator  10  includes a plurality of, in this embodiment, six arms provide to be capable of turning around a turning axis. That is, the manipulator  10  includes a first arm  12 , a second arm  13 , a third arm  14 , a fourth arm  15 , a fifth arm  17 , and a sixth arm  18 , a first driving source  401 , a second driving source  402 , a third driving source  403 , a fourth driving source  404 , a fifth driving source  405 , and a sixth driving source  406 . A wrist  16  is configured by the fifth arm  17  and the sixth arm  18 . An end effector (not shown in the figure) such as a hand is detachably attached to the distal end portion of the sixth arm  18 , that is, a distal end face  163  of the wrist  16 . The robot  1  can perform various kinds of work such as conveyance of a precision instrument, a component, or the like by controlling the motions of the arms  12  to  15 , the wrist  16 , and the like, for example, while keeping gripping the precision instrument, the component, or the like with a hand. The robot  1  is explained in detail below. 
     The robot  1  is a vertical multi-joint (six-axis) robot in which the base  11 , the first arm  12 , the second arm  13 , the third arm  14 , the fourth arm  15 , the fifth arm  17 , and the sixth arm  18  are coupled in this order from the proximal end side to the distal end side. In the following explanation, the first arm  12 , the second arm  13 , the third arm  14 , the fourth arm  15 , the fifth arm  17 , the sixth arm  18 , and the wrist  16  are respectively referred to as “arms” as well. The first driving source  401 , the second driving source  402 , the third driving source  403 , the fourth driving source  404 , the fifth driving source  405 , and the sixth driving source  406  are respectively referred to as “driving sources” as well. 
     The base  11  and the first arm  12  are coupled via a joint  171 . The first arm  12  has a first turning axis O 1  extending along the vertical direction as a turning center and is capable of turning around the first turning axis O 1  with respect to the base  11 . The first turning axis O 1  coincides with the normal of the upper surface of a floor  101 , which is a setting surface of the base  11 . The first turning axis O 1  is a turning axis present on a most upstream side of the robot  1 . The first arm  12  is turned by driving of the first driving source  401  including the motor (the first motor)  401 M and a reduction gear (not shown in the figure). The motor  401 M is controlled by the control device  20  via the motor driver  301 . 
     The first arm  12  and the second arm  13  are coupled via a joint  172 . The second arm  13  has a second turning axis O 2  parallel to the horizontal direction as a turning center and is capable of turning around the second turning axis O 2  with respect to the first arm  12 . The second turning axis O 2  is orthogonal to the first turning axis O 1 . The second arm  13  is turned by driving of the second driving source  402  including a motor (a second moor)  402 M and a reduction gear (not shown in the figure). The motor  402 M is controlled by the control device  20  via a motor driver  302 . Note that the second turning axis O 2  may be parallel to an axis orthogonal to the first turning axis O 1 . 
     The second arm  13  and the third arm  14  are coupled via a joint  173 . The third arm  14  has a third turning axis O 3  parallel to the horizontal direction as a turning center and is capable of turning around the third turning axis O 3  with respect to the second arm  13 . The third turning axis O 3  is parallel to the second turning axis O 2 . The third arm  14  is turned by driving of the third driving source  403  including a motor (a third motor)  403 M and a reduction gear (not shown in the figure). The motor  403 M is controlled by the control device  20  via a motor driver  303 . 
     The third arm  14  and the fourth arm  15  are coupled via a joint  174 . The fourth arm  15  has a fourth turning axis O 4  parallel to a center axis direction of the third arm  14  as a turning center and is capable of turning around the fourth turning axis O 4  with respect to the third arm  14 . The fourth turning axis O 4  is orthogonal to the third turning axis O 3 . The fourth arm  15  is turned by driving of the fourth driving source  404  including a motor (a fourth motor)  404 M and a reduction gear (not shown in the figure). The motor  404 M is controlled by the control device  20  via a motor driver  304 . Note that the fourth turning axis O 4  may be parallel to an axis orthogonal to the third turning axis O 3 . 
     The fourth arm  15  and the fifth arm  17  of the wrist  16  are coupled via a joint  175 . The fifth arm  17  has a fifth turning axis O 5  as a turning center and is capable of turning around the fifth turning axis O 5  with respect to the fourth arm  15 . The fifth turning axis O 5  is orthogonal to the fourth turning axis O 4 . The fifth arm  17  is turned by driving of the fifth driving source  405  including a motor (a fifth motor)  405 M and a reduction gear (not shown in the figure). The motor  405 M is controlled by the control device  20  via a motor driver  305 . Note that the fifth turning axis O 5  may be parallel to an axis orthogonal to the fourth turning axis O 4 . 
     The fifth arm  17  of the wrist  16  and the sixth arm  18  are coupled via a joint  176 . The sixth arm  18  has a sixth turning axis O 6  as a turning center and is capable of turning around the sixth turning axis O 6  with respect to the fifth arm  17 . The sixth turning axis O 6  is orthogonal to the fifth turning axis O 5 . The sixth arm  18  is turned by driving of the sixth driving source  406  including a motor (a sixth motor)  406 M and a reduction gear (not shown in the figure). The motor  406 M is controlled by the control device  20  via a motor driver  306 . Note that the sixth turning axis O 6  may be parallel to an axis orthogonal to the fifth turning axis O 5 . 
     Note that the wrist  16  includes, as the sixth arm  18 , a wrist main body  161  formed in a cylindrical shape and includes, as the fifth arm  17 , a supporting ring  162  configured separately from the wrist main body  161 , provided at the proximal end portion of the wrist main body  161 , and formed in a ring shape. 
     In the motors  401 M to  406 M, first angle sensors  411 ,  412 ,  413 ,  414 ,  415 , and  416  are respectively provided. 
     In the base  11 , for example, the motor  401 M and the motor drivers  301  to  306  are housed. 
     Each of the arms  12  to  15  includes a hollow arm main body  2 , a driving mechanism  3  housed in the arm main body  2  and including a motor, and a sealing member  4  for sealing the inside of the arm main body  2 . Note that, in the figures, the arm main body  2 , the driving mechanism  3 , and the sealing member  4  included in the first arm  12  are respectively described as “ 2   a ”, “ 3   a ”, and “ 4   a ” as well. The arm main body  2 , the driving mechanism  3 , and the sealing member  4  included in the second arm  13  are respectively described as “ 2   b ”, “ 3   b ”, and “ 4   b ” as well. The arm main body  2 , the driving mechanism  3 , and the sealing member  4  included in the third arm  14  are respectively described as “ 2   c ”, “ 3   c ”, and “ 4   c ” as well. The arm main body  2 , the driving mechanism  3 , and the sealing member  4  included in the fourth arm  15  are respectively described as “ 2   d ”, “ 3   d ”, and “ 4   d ” as well. 
     The disposition of the second angle sensor  511  and the angular velocity sensor  31  is explained. Note that, as explained in the first and third embodiments, the second angle sensor  511  for the arm  19  is not set in the arm  19  itself and is set in the base  11  and the reduction gear  501 . Therefore, in the following explanation, an expression “the second angle sensor is provided for the arm” is used. 
     In this embodiment, the second angle sensor  511  is provided for the first arm  12 . The angular velocity sensor  31  is provided at the distal end portion of the sixth arm  18 . Consequently, it is possible to obtain a necessary and sufficient effect while reducing the number of the second angle sensors  511  and the number of the angular velocity sensors  31 . 
     Note that the second angle sensor may be provided for each of the first arm  12  to the sixth arm  18 . The angular velocity sensor may be provided for each of the first arm  12  to the sixth arm  18 . 
     The second angle sensor may be provided for only a part of the first arm  12  to the sixth arm  18 . The angular velocity sensor may be provided for only a part of the first arm  12  to the sixth arm  18 . The part of the arms may be one arm or a plurality of arms. 
     According to the fourth embodiment explained above, it is possible to exhibit an effect same as the effect in the embodiments explained above. 
     The robots, the control devices, and the robot systems according to the embodiments of the invention are explained with reference to the drawings. However, the invention is not limited to this. The components of the sections can be substituted with any components having the same functions. Any other components may be added. 
     In the invention, any two or more configurations (characteristics) in the embodiments may be combined. 
     In the example explained in the embodiments, the movable section is the arm of the robot or the manipulator (the robot arm) including the plurality of arms. However, in the invention, the movable section is not limited to this and only has to be a movable portion, that is, a portion capable of moving of the robot. 
     In the embodiments, the fixing part of the base of the robot is, for example, the floor in the setting space. However, in the invention, the fixing part is not limited to this. Besides, examples of the fixing part include a ceiling, a wall, a workbench, and a ground. 
     In the invention, the robot may be set in a cell. In this case, examples of the fixing part of the base of the robot include a floor section, a ceiling section, a wall section, and a workbench. 
     In the embodiments, a first surface, which is a plane (a surface) on which the robot (the base) is fixed is a plane (a surface) parallel to the horizontal plane. However, in the invention, the surface is not limited to this and, for example, may be a plane (a surface) inclined with respect to the horizontal plane or the vertical plane or may be a plane (a surface) parallel to the vertical plane. That is, the first turning axis (the turning axis) is not limited to be parallel to the vertical direction and, for example, may be inclined with respect to the vertical direction or the horizontal direction or may be parallel to the horizontal direction. 
     In the embodiments, the number of turning axes of the manipulator is one or six. However, in the invention, the number of turning axes of the manipulator is not limited to this and may be, for example, two, three, four, five, or seven or more. That is, in the embodiments, the number of arms (links) is one or six. However, in the invention, the number of arms (links) is not limited to this and may be, for example, two, three, four, five, or seven or more. In this case, for example, in the robots according to the embodiments, by adding an arm between the second arm and the third arm, it is possible to realize a robot including seven arms. 
     In the embodiments, the number of manipulators is one. However, in the invention, the number of manipulators is not limited to this and may be, for example, two or more. That is, the robot (the robot main body) may be a multi-arm robot such as a double-arm robot. 
     In the invention, the robot may be robots of other forms. Specific examples of the robot include horizontal multi-joint robots such as a legged walking (running) robot including leg sections and a SCARA robot. 
     The entire disclosure of Japanese Patent Application No. 2016-124230, filed Jun. 23, 2016 is expressly incorporated by reference herein.