US2016279795A1PendingUtilityA1

Robotic device and method of controlling robotic device

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Assignee: SEIKO EPSON CORPPriority: Jul 12, 2010Filed: Jun 7, 2016Published: Sep 29, 2016
Est. expiryJul 12, 2030(~4 yrs left)· nominal 20-yr term from priority
Inventors:Shigenori Sasai
B25J 9/1633B25J 9/1674G05B 9/03G05B 2219/40228G01C 25/005B25J 13/088
47
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Claims

Abstract

A robotic device having an arm including an actuator and inertial sensor, a first calculator adapted to calculate an angular velocity and an angular acceleration of the actuator based on a rotational angle data from an angle sensor, a second calculator adapted to calculate one of an angular velocity and an angular acceleration of the arm based on an output detected by the inertial sensor, and a comparator adapted to compare one of the angular velocity and the angular acceleration calculated by the first calculator and one of the angular velocity and the angular acceleration calculated by the second calculator with each other, and it is determined that the inertial sensor is at fault if an absolute value of the difference between the actuator and the arm in one of the angular velocity and the angular acceleration in the comparison section is larger than a threshold value.

Claims

exact text as granted — not AI-modified
What is claimed is: 
     
         1 . A robotic device comprising:
 a base;   an arm rotatably connected to the base;   an actuator actuating the arm;   an angle sensor detecting a rotational angle of the actuator and outputs a first output; and   an inertial sensor attached to the arm and outputs a second output; wherein   the actuator receives a halt signal from a control section when a first value based on the first output and the second output is greater than a second value   
     
     
         2 . The robotic device according to  claim 1 , wherein
 the first value is a difference between the first angular velocity of the arm based on the first output and the second angular velocity of the arm based on the second output.   
     
     
         3 . The robotic device according to  claim 1 , wherein
 the first value is a difference between the first angular acceleration of the arm based on the first output and the second angular acceleration of the arm based on the second output.   
     
     
         4 . The robotic device according to  claim 1 , wherein
 the inertial sensor is determined at fault when the first value based on the first output and the second output is greater than the second value.   
     
     
         5 . The robotic device according to  claim 2 , wherein
 the inertial sensor is determined at fault when the first value based on the first output and the second output is greater than the second value.   
     
     
         6 . The robotic device according to  claim 3 , wherein
 the inertial sensor is determined at fault when the first value based on the first output and the second output is greater than the second value.   
     
     
         7 . The robotic device according to  claim 1 , wherein
 the arm stops moving when the first value based on the first output and the second output is greater than the second value.   
     
     
         8 . The robotic device according to  claim 2 , wherein
 the arm stops moving when the first value based on the first output and the second output is greater than the second value.   
     
     
         9 . The robotic device according to  claim 3 , wherein
 the arm stops moving when the first value based on the first output and the second output is greater than the second value.   
     
     
         10 . The robotic device according to  claim 4 , wherein
 the arm stops moving when the first value based on the first output and the second output is greater than the second value.   
     
     
         11 . The robotic device according to  claim 5 , wherein
 the arm stops moving when the first value based on the first output and the second output is greater than the second value.   
     
     
         12 . The robotic device according to  claim 6 , wherein
 the arm stops moving when the first value based on the first output and the second output is greater than the second value.   
     
     
         13 . The robotic device according to  claim 1 , wherein
 the inertial sensor is an angular velocity sensor.   
     
     
         14 . The robotic device according to  claim 2 , wherein
 the inertial sensor is an angular velocity sensor.   
     
     
         15 . The robotic device according to  claim 3 , wherein the inertial sensor is an angular velocity sensor. 
     
     
         16 . The robotic device according to  claim 4 , wherein the inertial sensor is an angular velocity sensor. 
     
     
         17 . The robotic device according to  claim 5 , wherein the inertial sensor is an angular velocity sensor. 
     
     
         18 . The robotic device according to  claim 6 , wherein the inertial sensor is an angular velocity sensor. 
     
     
         19 . The robotic device according to  claim 7 , wherein the inertial sensor is an angular velocity sensor. 
     
     
         20 . The robotic device according to  claim 1 , wherein the second value is a predetermined threshold value.

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