Abstract: When a robot in which a first arm is rotatably provided at a base via abase joint portion and the first arm is provided with a first joint portion including a plurality of joints is controlled, a first inertial force is detected on a tip side of the first arm, and a base-side inertial force is detected on a base side of the first arm. The first joint portion of the first arm is controlled on the basis of the base-side inertial force and the first inertial force. If this is the case, since the first joint portion can be controlled using not only the inertial force (first inertial force) on the tip side of the first arm but also the inertial force (base-side inertial force) on the base side of the first arm.

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: An arm drive mechanism which rotates an arm, an angle sensor which detects a rotation angle of the arm drive mechanism and outputs angle information, an angular velocity sensor which is attached to the arm, detects angular velocity acting on the arm and outputs angular velocity information, a control command generating unit which outputs a control command value prescribing a rotational operation of the arm, a gain adjusting unit which incrementally or decrementally changes and thus adjusts a gain of the angular velocity information, and an arm operation control unit which controls an operation of the arm based on the control command value, the angle information and the gain-adjusted angular velocity information, are provided.

Abstract: A robot includes: an arm; a driving source that pivots the arm; an angle sensor that detects a pivot angle and outputs pivot angle information; an inertia sensor that is attached to the arm and outputs inertial force information; a control command generating unit that outputs a control command defining rotational operation of the arm; a control conversion determining unit that determines whether the inertial force information is used when the driving source is controlled; and an arm operation control unit that performs a first control based on the control command, the pivot angle information, and the inertial force information, if the control conversion determining unit determines that the inertial force information should be used, and performs a second control based on the control command and the pivot angle information, if the control conversion determining unit determines that the inertial force information should not be used.

Abstract: An arm drive mechanism which rotates an arm, an angle sensor which detects a rotation angle of the arm drive mechanism and outputs angle information, an angular velocity sensor which is attached to the arm, detects angular velocity acting on the arm and outputs angular velocity information, a control command generating unit which outputs a control command value prescribing a rotational operation of the arm, a gain adjusting unit which incrementally or decrementally changes and thus adjusts a gain of the angular velocity information, and an arm operation control unit which controls an operation of the arm based on the control command value, the angle information and the gain-adjusted angular velocity information, are provided.

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 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: an arm; a driving source that pivots the arm; an angle sensor that detects a pivot angle and outputs pivot angle information; an inertia sensor that is attached to the arm and outputs inertial force information; a control command generating unit that outputs a control command defining rotational operation of the arm; a control conversion determining unit that determines whether the inertial force information is used when the driving source is controlled; and an arm operation control unit that performs a first control based on the control command, the pivot angle information, and the inertial force information, if the control conversion determining unit determines that the inertial force information should be used, and performs a second control based on the control command and the pivot angle information, if the control conversion determining unit determines that the inertial force information should not be used.

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 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 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 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 robot includes: an arm; a driving source that pivots the arm; an angle sensor that detects a pivot angle and outputs pivot angle information; an inertia sensor that is attached to the arm and outputs inertial force information; a control command generating unit that outputs a control command defining rotational operation of the arm; a control conversion determining unit that determines whether the inertial force information is used when the driving source is controlled; and an arm operation control unit that performs a first control based on the control command, the pivot angle information, and the inertial force information, if the control conversion determining unit determines that the inertial force information should be used, and performs a second control based on the control command and the pivot angle information, if the control conversion determining unit determines that the inertial force information should not be used.

Abstract: A robot includes: an arm; a driving source that pivots the arm; an angle sensor that detects a pivot angle and outputs pivot angle information; an inertia sensor that is attached to the arm and outputs inertial force information; a control command generating unit that outputs a control command defining rotational operation of the arm; a control conversion determining unit that determines whether the inertial force information is used when the driving source is controlled; and an arm operation control unit that performs a first control based on the control command, the pivot angle information, and the inertial force information, if the control conversion determining unit determines that the inertial force information should be used, and performs a second control based on the control command and the pivot angle information, if the control conversion determining unit determines that the inertial force information should not be used.

Abstract: An arm drive mechanism which rotates an arm, an angle sensor which detects a rotation angle of the arm drive mechanism and outputs angle information, an angular velocity sensor which is attached to the arm, detects angular velocity acting on the arm and outputs angular velocity information, a control command generating unit which outputs a control command value prescribing a rotational operation of the arm, a gain adjusting unit which incrementally or decrementally changes and thus adjusts a gain of the angular velocity information, and an arm operation control unit which controls an operation of the arm based on the control command value, the angle information and the gain-adjusted angular velocity information, are provided.

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 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: 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 rotational operation of the arm; a control conversion determining unit that determines whether the inertial force information is used or not when the driving source is controlled to control operation of the arm; and an arm operation control unit that performs a first control based on the control command, the pivot angle information, and the inertial force information, to control the driving source and thus control the operation of the arm, if the control conversion determining unit determines to use the inertial force information, and performs a second control which is different from the first con