US2016082592A1PendingUtilityA1

Position control method and robot

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Assignee: SEIKO EPSON CORPPriority: Jul 6, 2009Filed: Nov 24, 2015Published: Mar 24, 2016
Est. expiryJul 6, 2029(~2.9 yrs left)· nominal 20-yr term from priority
Inventors:Izumi Iida
B25J 19/04B25J 9/1697B25J 9/12B25J 9/10G05B 19/404B25J 9/1694B25J 9/1638G05B 2219/39199Y10T156/19G05B 2219/40549G05B 2219/41123G05B 2219/41168G05B 2219/41117Y10S901/09G05B 2219/41122
54
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Claims

Abstract

A position control method for controlling a position of a movable portion, includes: performing control of allowing the movable portion to approach a predetermined position by moving the movable portion; and performing control of moving the movable portion to the predetermined position by moving the movable portion and detecting a relative position of the movable portion with respect to the predetermined position by using an imaging unit.

Claims

exact text as granted — not AI-modified
What is claimed is: 
     
         1 . A position control method comprising:
 controlling a position of a movable portion according to instructions from a processor, wherein   when the movable portion is moving according to the instructions, at least a part of a first vibration of the movable portion detected by an inertial sensor is suppressed.   
     
     
         2 . The position control method according to  claim 1 , wherein, in the suppressing of the first vibration of the movable portion, the first vibration is suppressed by detecting the first vibration by using the inertial sensor and adding a second vibration having a phase opposite to that of the first vibration to the movable portion. 
     
     
         3 . The position control method according to  claim 2 , wherein the movable portion is moved by a driving unit, and
 the driving unit creates the second vibration.   
     
     
         4 . The position control method according to  claim 1 , wherein the inertial sensor is a gyroscope. 
     
     
         5 . The position control method according to  claim 4 , wherein the inertial sensor is a vibrator-type gyroscope. 
     
     
         6 . The position control method according to  claim 1 , wherein the inertial sensor is disposed at the movable portion. 
     
     
         7 . The position control method according to  claim 2 , wherein the inertial sensor is disposed at the movable portion. 
     
     
         8 . The position control method according to  claim 3 , wherein the inertial sensor is disposed at the movable portion. 
     
     
         9 . The position control method according to  claim 4 , wherein the inertial sensor is disposed at the movable portion. 
     
     
         10 . The position control method according to  claim 5 , wherein the inertial sensor is disposed at the movable portion. 
     
     
         11 . A robot comprising:
 a movable portion; and   an inertial sensor; wherein   when the movable portion is moved by a driving unit, at least a part of a first vibration of the movable portion detected by the inertial sensor is suppressed.   
     
     
         12 . The robot according to  claim 11 , wherein
 the driving unit includes a step motor.   
     
     
         13 . The robot according to  claim 11 , comprising:
 a second vibration generation unit that generates a second vibration having a phase opposite to that of the first vibration.   
     
     
         14 . The robot according to  claim 13 , wherein
 the driving unit creates the second vibration.   
     
     
         15 . The robot according to  claim 11 , wherein
 the inertial sensor is a gyroscope.   
     
     
         16 . The robot according to  claim 15 , wherein
 the inertial sensor is a vibrator-type gyroscope.   
     
     
         17 . The robot according to  claim 11 , wherein
 the inertial sensor is disposed at the movable portion.   
     
     
         18 . The robot according to  claim 12 , wherein
 the inertial sensor is disposed at the movable portion.   
     
     
         19 . The robot according to  claim 13 , wherein
 the inertial sensor is disposed at the movable portion.   
     
     
         20 . The robot according to  claim 14 , wherein
 the inertial sensor is disposed at the movable portion.   
     
     
         21 . The robot according to  claim 15 , wherein
 the inertial sensor is disposed at the movable portion.   
     
     
         22 . The robot according to  claim 16 , wherein
 the inertial sensor is disposed at the movable portion.

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