Robot control device, robot, and robot system
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United States of America Patent
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Nov 1, 2016
Grant Date -
Apr 30, 2015
app pub date -
Oct 17, 2014
filing date -
Oct 30, 2013
priority date (Note) -
In Force
status (Latency Note)
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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.
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