Robot and robot control method
The integration of inertial sensors and adaptive feedback control in robot arms addresses the issue of unsuppressed vibrations, enabling precise determination and suppression of shaft vibrations.
JP2026066021APending Publication Date: 2026-04-16SEIKO EPSON CORP
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Patent Information
- Application Number
- JP2024175175
- Authority / Receiving Office
- JP · JP
- Patent Type
- Applications
- Current Assignee / Owner
- Filing Date
- 2024-10-04
- Publication Date
- 2026-04-16
AI Technical Summary
Technical Problem
Existing robot configurations fail to effectively suppress vibrations at the tip of multi-functional arms and lack the ability to determine the efficacy of vibration control.
Method used
Incorporating a shaft with inertial sensors to measure inertia in multiple directions and a control unit that adjusts feedback control based on sensor outputs to differentiate between normal and abnormal vibrations, allowing for precise vibration suppression.
Benefits of technology
Accurately determines the vibration state of the shaft and effectively suppresses vibrations, preventing worsening and ensuring stable operation.
✦ Generated by Eureka AI based on patent content.
Abstract
To provide a robot capable of suppressing vibration of a shaft, and a robot control method.SOLUTION: The robot includes a robot arm, a shaft linearly moving along a central axis with respect to the robot arm, a hand attached to the shaft, a first inertial sensor that measures inertia in a direction along the central axis of the shaft, a second inertial sensor that measures inertia in a direction orthogonal to the central axis of the shaft, a first drive unit that moves the shaft along the central axis, and a control unit that controls driving of the first drive unit. In addition, the control unit performs feedback control on the first driving unit based on the output of the first inertial sensor, determines whether the vibration of the shaft is normal or abnormal based on the output of the second inertial sensor, and makes the condition of the feedback control different between a case where the vibration is abnormal and a case where the vibration is normal.SELECTED DRAWING: Figure 1
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