Robot system, control apparatus, and control method
US11623340B2 · kind B2 · utility
Assignee
Inventor
Key dates
| Filing date | Mar 12, 2020 |
| Grant date | Apr 11, 2023 |
| Priority date | — |
| Expiry date | Jun 15, 2041 |
Classification
- Technology area (CPC B)Performing Operations; Transporting
- CPC primaryB25J19/02
- WIPO fieldHandling
- WIPO sectorMechanical engineering
Abstract
A robot system includes a robot having an arm pivoting about a pivot axis (first pivot axis), a motor (first motor) pivoting the arm, a shaft (spline shaft) coupled to the arm and moving in an axial direction of a linear motion axis parallel to the pivot axis, and an inertial sensor provided in the arm or shaft, and a control apparatus having a control unit controlling the motor, wherein the inertial sensor detects an angular velocity about a roll axis orthogonal to the pivot axis and the linear motion axis or an acceleration in a tangential direction of a circle around the roll axis, and the control unit controls the motor based on information representing a pivot direction of the arm about the roll axis when the arm stops or decelerates and output from the inertial sensor.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.