Robot, carriage device, and control method using inertia sensor

Abstract

A robot includes: an arm; a driving source that pivots the arm; an angle sensor that detects a pivot angle and outputs pivot angle information; an inertia sensor that is attached to the arm and outputs inertial force information; a control command generating unit that outputs a control command defining rotational operation of the arm; a control conversion determining unit that determines whether the inertial force information is used when the driving source is controlled; and an arm operation control unit that performs a first control based on the control command, the pivot angle information, and the inertial force information, if the control conversion determining unit determines that the inertial force information should be used, and performs a second control based on the control command and the pivot angle information, if the control conversion determining unit determines that the inertial force information should not be used.

What is claimed is: 
     
         1 . A robot comprising:
 an arm;   an angle sensor that detects a pivot angle of the arm;   an inertia sensor that is attached to the arm; and   a control section that controls the arm;   the control section performs a first control based on an output from the angle sensor and an output from the inertia sensor, and performs a second control based on the output from the angle sensor.   
     
     
         2 . The robot according to  claim 1 , wherein the control section performs the second control after the first control. 
     
     
         3 . The robot according to  claim 2 , comprising
 a driving source that drives the arm, wherein   the control section performs the second control after a stop command of the driving source is outputted.   
     
     
         4 . The robot according to  claim 1 , wherein the second control is not based on the output from the inertia sensor. 
     
     
         5 . The robot according to  claim 2 , wherein the second control is not based on the output from the inertia sensor. 
     
     
         6 . The robot according to  claim 3 , wherein the second control is not based on the output from the inertia sensor. 
     
     
         7 . The robot according to  claim 1 , wherein the inertia sensor is a gyro sensor. 
     
     
         8 . The robot according to  claim 2 , wherein the inertia sensor is a gyro sensor. 
     
     
         9 . The robot according to  claim 3 , wherein the inertia sensor is a gyro sensor. 
     
     
         10 . The robot according to  claim 4 , wherein the inertia sensor is a gyro sensor. 
     
     
         11 . The robot according to  claim 5 , wherein the inertia sensor is a gyro sensor. 
     
     
         12 . The robot according to  claim 6 , wherein the inertia sensor is a gyro sensor. 
     
     
         13 . The robot according to  claim 1 , wherein the number of the inertia sensor is plural.