Robot, carriage device, and control method using inertia sensor
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United States of America Patent
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Sep 30, 2014
Grant Date -
Sep 26, 2013
app pub date -
May 9, 2013
filing date -
Jun 15, 2009
priority date (Note) -
In Force
status (Latency Note)
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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.
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