Robot

Abstract

A robot includes a base, first and second arms, first and second drive sources, first and second inertia sensors, and first and second angle sensors. A rotation axis of the first arm and a rotation axis of the second arm are orthogonal to each other. The first inertia sensor is installed at the first arm, and the second inertia sensor is installed at the second arm. The first angle sensor is installed at the first drive source, and the second angle sensor is installed at the second drive source. Angular velocities obtained from the first inertia sensor and the first angle sensor are fed back to a first drive source control unit. Angular velocities obtained from the second inertia sensor and the second angle sensor are fed back to a second drive source control unit.

What is claimed is: 
     
         1 . A robot comprising:
 a base;   an arm comprising a first arm that is provided to the base and rotates around a first rotation axis, a second arm that is provided to the first arm and rotates around a second rotation axis in a direction intersecting a direction of the first rotation axis, a third arm that is provided to the second arm and rotates around a third rotation axis in a direction parallel to a direction of the second rotation axis, a fourth arm that is provided to the third arm and rotates around a fourth rotation axis in a direction intersecting a direction of the third rotation axis, a fifth arm that is provided to the fourth arm and rotates around a fifth rotation axis in a direction intersecting a direction of the fourth rotation axis, and a sixth arm that is provided to the fifth arm and rotates around a sixth rotation axis in a direction intersecting a direction of the fifth rotation axis; and   an inertia sensor that detects an angular velocity or acceleration, and provided to at least one of the first arm, the second arm and the third arm;   wherein the arm is controlled based on a output from the inertia sensor.   
     
     
         2 . The robot according to  claim 1 , comprising:
 a first angle sensor that detects a rotation angle of the first arm;   a first drive source that rotates the first arm based on the output from the inertia sensor and an output from the first angle sensor; and   a first control unit of the first drive source of the first arm that feeds back the output from the inertia sensor;   wherein the inertia sensor comprising a first inertia sensor that is provided to the first arm.   
     
     
         3 . The robot according to  claim 1 , comprising:
 a second angle sensor that detects a rotation angle of the second arm;   a second drive source that rotates the second arm based on the output from the inertia sensor and an output from the second angle sensor; and   a second control unit of the second drive source of the second arm that feeds back the output from the inertia sensor;   wherein the inertia sensor comprising a second inertia sensor that is provided to the second arm.   
     
     
         4 . The robot according to  claim 2 , comprising:
 a second angle sensor that detects a rotation angle of the second arm;   a second drive source that rotates the second arm based on the output from the inertia sensor and an output from the second angle sensor; and   a second control unit of the second drive source of the second arm that feeds back the output from the inertia sensor;   wherein the inertia sensor comprising a second inertia sensor that is provided to the second arm.   
     
     
         5 . The robot according to  claim 1 , comprising:
 a third angle sensor that detects a rotation angle of the third arm;   a third drive source that rotates the third arm based on the output from the inertia sensor and an output from the third angle sensor; and   a third control unit of the third drive source of the third arm that feeds back the output from the inertia sensor;   wherein the inertia sensor comprising a third inertia sensor that is provided to the third arm.   
     
     
         6 . The robot according to  claim 2 , comprising:
 a third angle sensor that detects a rotation angle of the third arm;   a third drive source that rotates the third arm based on the output from the inertia sensor and an output from the third angle sensor; and   a third control unit of the third drive source of the third arm that feeds back the output from the inertia sensor;   wherein the inertia sensor comprising a third inertia sensor that is provided to the third arm.   
     
     
         7 . The robot according to  claim 3 , comprising:
 a third angle sensor that detects a rotation angle of the third arm;   a third drive source that rotates the third arm based on the output from the inertia sensor and an output from the third angle sensor; and   a third control unit of the third drive source of the third arm that feeds back the output from the inertia sensor;   wherein the inertia sensor comprising a third inertia sensor that is provided to the third arm.   
     
     
         8 . The robot according to  claim 4 , comprising:
 a third angle sensor that detects a rotation angle of the third arm;   a third drive source that rotates the third arm based on the output from the inertia sensor and an output from the third angle sensor; and   a third control unit of the third drive source of the third arm that feeds back the output from the inertia sensor;   wherein the inertia sensor comprising a third inertia sensor that is provided to the third arm.   
     
     
         9 . The robot according to  claim 1 ,
 wherein the first rotation axis coincides with a normal line of an installation surface of the base.   
     
     
         10 . The robot according to  claim 1 ,
 wherein the inertia sensor is a gyroscope sensor.   
     
     
         11 . The robot according to  claim 2 ,
 wherein the first inertia sensor is provided inside the first arm.   
     
     
         12 . The robot according to  claim 3 ,
 wherein the second inertia sensor is provided inside the second arm.   
     
     
         13 . The robot according to  claim 4 ,
 wherein the second inertia sensor is provided inside the second arm.   
     
     
         14 . The robot according to  claim 5 ,
 wherein the third inertia sensor is provided inside the third arm.   
     
     
         15 . The robot according to  claim 6 ,
 wherein the third inertia sensor is provided inside the third arm.   
     
     
         16 . The robot according to  claim 7 ,
 wherein the third inertia sensor is provided inside the third arm.   
     
     
         17 . The robot according to  claim 8 ,
 wherein the third inertia sensor is provided inside the third arm.   
     
     
         18 . The robot according to  claim 1 ,
 wherein a vibration of the arm is suppressed based on an output from the inertia sensor.