Horizontal articulated robot, and method of controlling the same

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United States of America Patent

PATENT NO 8831781
APP PUB NO 20120215357A1
SERIAL NO

13400922

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ATTORNEY / AGENT: (SPONSORED)

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Abstract

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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.

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Patent Owner(s)

  • SEIKO EPSON CORPORATION

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Inventor(s)

Inventor Name Address # of filed Patents Total Citations
Igarashi, Katsuji Chino, JP 35 1197
Motoyoshi, Masaki Shiojiri, JP 58 421

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