Importance

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Abstract

A robot according to this disclosure includes a robot body including an arm including a plurality of links, a plurality of driving axis units configured to drive the plurality of links, and an inertia sensor(s) included in the arm; and a controller configured to acquire a compensation amount(s) for vibration based on a detection result(s) of the inertia sensor(s) acquired by executing at least one of correction of an inclination(s) of the inertia sensor(s) relative to a to-be-compensated driving axis unit(s), which is/are the driving axis unit(s) that is/are to be subjected to compensation, and elimination of a gravitational acceleration component(s) included in a detection result(s) that is/are detected by the inertia sensor(s).

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First Claim