Control device and control method for robot and the robot

Abstract

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.

What is claimed is: 
     
         1 . A control device for a robot including: a robot main body; an arm coupled to the robot main body and including a plurality of links; driving units configured to drive the plurality of links present between the robot main body and a first position of the arm; an angle sensor configured to detect a driving amount of the driving units; and an inertia sensor set in a first position,
 the control device comprising:   a first calculating unit configured to calculate a first arm speed from at least one of the acceleration and the angular velocity detected by the inertia sensor;   a second calculating unit configured to calculate a driving speed from the driving amount of the driving units detected by the angle sensor and calculate a second arm speed in the first position based on the driving amount and the driving speed; and   a control unit configured to control the driving units based on a correction speed calculated for each of the driving units based on the first arm speed and the second arm speed.   
     
     
         2 . The control device for the robot according to  claim 1 , comprising a filter for removing a low frequency component equal to or less than a predetermined frequency included in a waveform of the a third arm speed based on the first arm speed and the second arm speed. 
     
     
         3 . The control device for the robot according to  claim 1 , wherein the inertial sensor has a plurality of axes. 
     
     
         4 . The control device for the robot according to  claim 5 , wherein the inertial sensor is a six-axis sensor. 
     
     
         5 . A control method for a robot including: an arm including a plurality of coupled links; and driving units configured to drive the plurality of links,
 the control method including:
 detecting a first arm speed in a first position; and 
 controlling the driving units based on the detected first arm speed and a second arm speed calculated based on a driving amount of the driving units, the second arm speed being a speed at which the first position is driven 
   
     
     
         6 . The control method for the robot according to  claim 5 , comprising removing a low frequency component equal to or less than a predetermined frequency included in a waveform of a third arm speed based on the first arm speed and the second arm speed. 
     
     
         7 . A robot, wherein
 The robot is controlled by the control device for the robot according to  claim 1 .   
     
     
         8 . A robot, wherein
 The robot is controlled by the control device for the robot according to  claim 2 .   
     
     
         9 . A robot, wherein
 The robot is controlled by the control device for the robot according to  claim 3 .   
     
     
         10 . A robot, wherein
 The robot is controlled by the control device for the robot according to  claim 4 .