Control device and control method for robot and the robot

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United States of America Patent

PATENT NO 9095979
APP PUB NO 20140039678A1
SERIAL NO

13953120

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ATTORNEY / AGENT: (SPONSORED)

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Abstract

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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.

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Patent Owner(s)

  • SEIKO EPSON CORPORATION

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Inventor(s)

Inventor Name Address # of filed Patents Total Citations
Motoyoshi, Masaki Shiojiri, JP 58 421

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