Patent ID: 8849456

Claim:
A robot comprising: an arm with one end pivotally supported; a driving source that pivots the arm; an angle sensor that detects a pivot angle of the driving source and outputs pivot angle information of the driving source; an inertia sensor that is attached to the arm and outputs inertial force information of an inertial force acting on the arm; a control command generating unit that outputs a control command defining a rotational operation of the arm; a control conversion determining unit that determines a weighted constant of the inertial force information when the rotation operation of the arm is controlled by the driving source; and an arm operation control unit that controls the driving source and thus controls the rotation operation of the arm based on the control command, the pivot angle information, and the inertial force information which is multiplied by the weighted constant determined by the control conversion determining, wherein the control conversion determining unit compares the inertial force information with a predetermined inertial force threshold value to determine whether the inertial force information is used for controlling the rotation operation of the arm, and the control conversion determining unit compares the pivot angle information with a predetermined pivot angle threshold value to determine whether the inertial force information is used for controlling the rotation operation of the arm.