Robot and robot control method

Abstract

An arm drive mechanism which rotates an arm, an angle sensor which detects a rotation angle of the arm drive mechanism and outputs angle information, an angular velocity sensor which is attached to the arm, detects angular velocity acting on the arm and outputs angular velocity information, a control command generating unit which outputs a control command value prescribing a rotational operation of the arm, a gain adjusting unit which incrementally or decrementally changes and thus adjusts a gain of the angular velocity information, and an arm operation control unit which controls an operation of the arm based on the control command value, the angle information and the gain-adjusted angular velocity information, are provided.

1 . A robot comprising:
 an arm;   an angle sensor;   an inertial sensor; and   a control command generating unit,   
       wherein
 the angle sensor detects a rotational angle of the arm, 
 the inertial sensor is attached to the arm, 
 the robot controls an operation of the arm based on an output from the angle sensor, and an output from the inertial sensor weighted with a weighting value, and 
 the weighting value changes gradually. 
 
     
     
         2 . The robot according to  claim 1 , wherein
 the inertial sensor is a gyro sensor.   
     
     
         3 . The robot according to  claim 2 , wherein
 the weighting value changes gradually while the arm is moving.   
     
     
         4 . The robot according to  claim 2 , wherein
 the weighting value is 0 while the arm is stopping.   
     
     
         5 .- 15 . (canceled)