Abstract: A robot includes a base, a first arm that rotates around a first rotation axis, a second arm that rotates around a second rotation axis extending in a direction different than the first rotation axis, a third arm that rotates around a third rotation axis extending in a direction parallel to the second rotation axis, a first inertia sensor at the first arm, a second (a) inertia sensor at the third arm, a first angle sensor at a first drive source, a third angle sensor at a third drive source, and the drive sources rotate the respective arms. Angular velocities from the first inertia sensor and the first angle sensor are fed back to a first drive source control unit. Angular velocities from the second (a) inertia sensor and the third angle sensor are fed back to a second drive source control unit.

Abstract: A robot includes a first arm that rotates around the first axis, a second arm that rotates around a second axis in a direction different from the first axis, a third arm that rotates around a third axis parallel to the second axis, a first inertia sensor that is installed at the first arm, a second (a) inertia sensor that is installed at the third arm, first to third angle sensors, a posture detection unit that detects the posture of the third arm with the second arm as a reference and derives a feedback gain, and a second drive source control unit that feeds back a second correction component, which is obtained by multiplying a value, which is obtained by subtracting the angular velocity ?A2m and the angular velocity ?A3m from the angular velocity ?A3, by the feedback gain, and controls the second drive source.

Abstract: A robot includes: a controller that causes a fitting member including at least one fitting flat surface which is a flat surface parallel to a fitting direction to move in the fitting direction so as to fit a fitted section.

Abstract: A robot includes a base, a first arm that rotates around a first rotation axis, a second arm that rotates around a second rotation axis extending in a direction different than the first rotation axis, a third arm that rotates around a third rotation axis extending in a direction parallel to the second rotation axis, a first inertia sensor at the first arm, a second (a) inertia sensor at the third arm, a first angle sensor at a first drive source, a third angle sensor at a third drive source, and the drive sources rotate the respective arms. Angular velocities from the first inertia sensor and the first angle sensor are fed back to a first drive source control unit. Angular velocities from the second (a) inertia sensor and the third angle sensor are fed back to a second drive source control unit.

Abstract: A robot includes an arm adapted to move an object, an input reception section adapted to receive input of information (information of a control point in an object coordinate system in a restricted sense) defined by a coordinate system set to the object, and a control section adapted to make the arm operate based on a taken image obtained by imaging the object and the information input.

Abstract: A method of controlling a robot includes the steps of calculating a torsional angular velocity of an arm using a difference between an angular velocity detected by a gyro sensor and an angular velocity in a gyro sensor coordinate obtained from information detected by a first encoder and a second encoder, calculating a correction amount of a sensitivity error of the gyro sensor using a variation in the torsional angular velocity, and correcting sensitivity of the gyro sensor using the correction amount of the sensitivity error.

Abstract: A robot includes a first horizontal arm coupled to a base, a second horizontal arm coupled to the base via the first horizontal arm, first and second motors adapted to rotate the respective arms, and first and second encoders adapted to calculate rotational angles and rotational velocities of the respective motors. A first motor control section subtracts first and second angular velocities based on the first and second encoders from a sensor angular velocity detected by an angular sensor, and controls the first motor so that a velocity measurement value obtained by adding a vibration velocity based on a vibration angular velocity as the subtraction result and a first rotational velocity becomes equal to a velocity command value.

Abstract: A control method for suppressing vibration of a robot arm including a plurality of coupled links and driving units configured to drive the links includes calculating a first arm speed from at least one of acceleration and an angular velocity detected in a damping position for suppressing vibration, calculating a third arm speed according to the detected first arm speed and a second arm speed in the damping position calculated on the basis of a driving amount of the driving units, and subjecting the driving units to correction control on the basis of the calculated third arm speed.

Abstract: A method of controlling a robot includes the steps of calculating a torsional angular velocity of an arm using a difference between an angular velocity detected by a gyro sensor and an angular velocity in a gyro sensor coordinate obtained from information detected by a first encoder and a second encoder, calculating a correction amount of a sensitivity error of the gyro sensor using a variation in the torsional angular velocity, and correcting sensitivity of the gyro sensor using the correction amount of the sensitivity error.

Abstract: A robot includes a first horizontal arm coupled to a base, a second horizontal arm coupled to the base via the first horizontal arm, first and second motors adapted to rotate the respective arms, and first and second encoders adapted to calculate rotational angles and rotational velocities of the respective motors. A first motor control section subtracts first and second angular velocities based on the first and second encoders from a sensor angular velocity detected by an angular sensor, and controls the first motor so that a velocity measurement value obtained by adding a vibration velocity based on a vibration angular velocity as the subtraction result and a first rotational velocity becomes equal to a velocity command value.

Abstract: A robot includes a base, first and second arms, first and second drive sources, first and second inertia sensors, and first and second angle sensors. A rotation axis of the first arm and a rotation axis of the second arm are orthogonal to each other. The first inertia sensor is installed at the first arm, and the second inertia sensor is installed at the second arm. The first angle sensor is installed at the first drive source, and the second angle sensor is installed at the second drive source. Angular velocities obtained from the first inertia sensor and the first angle sensor are fed back to a first drive source control unit. Angular velocities obtained from the second inertia sensor and the second angle sensor are fed back to a second drive source control unit.

Abstract: A control method for suppressing vibration of a robot arm including a plurality of coupled links and driving units configured to drive the links includes calculating a first arm speed from at least one of acceleration and an angular velocity detected in a damping position for suppressing vibration, calculating a third arm speed according to the detected first arm speed and a second arm speed in the damping position calculated on the basis of a driving amount of the driving units, and subjecting the driving units to correction control on the basis of the calculated third arm speed.

Abstract: A robotic device includes a first calculation section adapted to calculate a first angular velocity of a first arm operating due to a first actuator provided with a first angle sensor based on rotational angle detection data of the first angle sensor of the fist actuator, a second calculation section adapted to calculate a second angular velocity of the first arm taking an arm linkage device as an axis based on angular velocity detection data of an inertial sensor provided to the first arm linked via the arm linkage device including the first actuator, which is a calculation object of the first calculation section, and a third calculation section adapted to calculate a torsional angular velocity between the first actuator and the first arm with a low-frequency component eliminated.

Abstract: A robot includes a plurality of joints including a first joint and a second joint that rotates in a direction different from a rotation direction of the first joint, a plurality of arm members including a first arm member provided to be rotatable with respect to a base via the first joint, and a first angular velocity sensor provided in the first arm member or the first joint. A first inertial sensor is provided in the first arm member (or a portion that rotates together with the first arm member in the first joint). The plurality of joints are controlled on the basis of an output of the first inertial sensor.

Abstract: A robot includes respective arms, respective drive sources, respective angle sensors, respective inertia sensors, a posture detection unit that detects the posture of a third arm, and a second drive source control unit that selects, on the basis of a detection result of the posture detection unit, any one of a second (A) correction component, which is derived from an angular velocity ?A3 of a second axis of a third arm obtained from a third inertia sensor, an angular velocity ?A2m of a second axis of a second arm obtained from a second angle sensor, and an angular velocity ?A3m obtained from a third angle sensor, and a second (B) correction component, which is derived from an angular velocity ?A2 obtained from a second inertia sensor and the angular velocity ?A2m, and feeds back the selected correction component to control the second drive source.

Abstract: A robot includes a base, first and second arms, first and second drive sources, first and second inertia sensors, and first and second angle sensors. A rotation axis of the first arm and a rotation axis of the second arm are orthogonal to each other. The first inertia sensor is installed at the first arm, and the second inertia sensor is installed at the second arm. The first angle sensor is installed at the first drive source, and the second angle sensor is installed at the second drive source. Angular velocities obtained from the first inertia sensor and the first angle sensor are fed back to a first drive source control unit. Angular velocities obtained from the second inertia sensor and the second angle sensor are fed back to a second drive source control unit.

Abstract: A robot control device controls the operation of a robot including a base; a robot arm that has at least three links, at least three joint portions, and at least three drive sources; an inertia sensor; and at least three angle sensors. The robot control device includes a first coordinate system vibration calculation unit; a second coordinate system vibration calculation unit; a weighting unit; a third coordinate system vibration calculation unit; a correction value calculation unit that obtains correction values for correcting the respective drive commands of the drive sources based on vibration information in a third coordinate system, and the respective detected results of the angle sensors; and a drive source control unit that controls the operations of the drive sources based on the respective drive commands of the drive sources, the correction values, and the respective detected results of the angle sensors.

Abstract: A control device includes a reception unit that receives first operation information and second operation information different from the first operation information; and a process unit that instructs a robot to execute operations based on the first operation information and the second operation information using a plurality of captured images of an imaged target object, the images being captured multiple times while the robot moves from a first posture to a second posture different from the first posture.

Abstract: A robot control device controls the operation of a robot including a trunk that is rotatable around an axis, first and second robot arms that are provided at the trunk and rotatable with respect to the trunk, and first, second, and third inertial sensors. In an operation in which the second robot arm is brought into a stationary state and the first robot arm is rotated around the axis from the stationary state and moved to a target position, the robot control device makes B/A<0.27 satisfied when a maximum value of the amplitude of the angular velocity of the trunk around the axis before the first robot arm reaches the target position is defined as A, and a maximum value of the amplitude of the angular velocity of the trunk around the axis after the first robot arm has reached the target position first is defined as B.

Abstract: A robot includes a base; a trunk linked to the base; a multi-joint robot arm rotatably linked to the trunk; and an elevating mechanism capable of bringing the trunk to a low position and a high position higher than the low position, and a time taken when a tip of the multi-joint robot arm is moved by a predetermined distance when the trunk is at the high position is longer than a time taken when the tip of the multi-joint robot arm is moved by a predetermined distance when the trunk is at the low position.