Horizontal articulated robot

Abstract

A robot includes an angular velocity sensor installed to a second horizontal arm and for obtaining the angular velocity of the first horizontal arm with respect to a base, and suppresses the vibration of the first horizontal arm by driving a first electric motor based on the angular velocity of the first horizontal arm. In the robot, an electric wire to be connected to a second electric motor incorporated in the second horizontal arm and electric wire to be connected to the angular velocity sensor are laid around through a wiring duct having end portions coupled respectively to the base and the second horizontal arm, disposed outside the first horizontal arm and outside the second horizontal arm, and having a passage leading to the inside of the base and the inside of the second horizontal arm.

What is claimed is: 
     
         1 . A robot comprising:
 a first arm connected to a base;   a second arm connected to the base via at least the first arm;   an angular velocity sensor disposed inside the second arm; and   a first drive source rotating the first arm based on an output from the angular velocity sensor.   
     
     
         2 . The robot according to  claim 1 , wherein:
 the second arm is connected to the first arm.   
     
     
         3 . The robot according to  claim 1 , comprising:
 a first drive source incorporated in the base and adapted to rotate the first arm; and   a second drive source incorporated in the second arm and adapted to rotate the second arm.   
     
     
         4 . The robot according to  claim 2 , comprising:
 a first drive source incorporated in the base and adapted to rotate the first arm; and   a second drive source incorporated in the second arm and adapted to rotate the second arm.   
     
     
         5 . The robot according to  claim 1 , comprising:
 a piping member having one end connected to the base and the other end connected to the second arm; and   wherein an electric wire connected to the angular velocity sensor is passed into the piping member.   
     
     
         6 . The robot according to  claim 2 , comprising:
 a piping member having one end connected to the base and the other end connected to the second arm; and   wherein an electric wire connected to the angular velocity sensor is passed into the piping member.   
     
     
         7 . The robot according to  claim 3 , comprising:
 a piping member having one end connected to the base and the other end connected to the second arm; and   wherein an electric wire connected to the angular velocity sensor is passed into the piping member.   
     
     
         8 . The robot according to  claim 4 , comprising:
 a piping member having one end connected to the base and the other end connected to the second arm; and   wherein an electric wire connected to the angular velocity sensor is passed into the piping member.   
     
     
         9 . The robot according to  claim 5 , wherein:
 a connection section between the piping member and the second arm is disposed on an upper side of the second arm.   
     
     
         10 . The robot according to  claim 6 , wherein:
 a connection section between the piping member and the second arm is disposed on an upper side of the second arm.   
     
     
         11 . The robot according to  claim 7 , wherein:
 a connection section between the piping member and the second arm is disposed on an upper side of the second arm.   
     
     
         12 . The robot according to  claim 8 , wherein:
 a connection section between the piping member and the second arm is disposed on an upper side of the second arm.   
     
     
         13 . The robot according to  claim 1 , wherein:
 a vibration of the first arm is suppressed based on an output from the angular velocity sensor.   
     
     
         14 . The robot according to  claim 2 , wherein:
 a vibration of the first arm is suppressed based on an output from the angular velocity sensor.   
     
     
         15 . The robot according to  claim 3 , wherein:
 a vibration of the first arm is suppressed based on an output from the angular velocity sensor.   
     
     
         16 . The robot according to  claim 4 , wherein:
 a vibration of the first arm is suppressed based on an output from the angular velocity sensor.   
     
     
         17 . The robot according to  claim 5 , wherein:
 a vibration of the first arm is suppressed based on an output from the angular velocity sensor.   
     
     
         18 . The robot according to  claim 6 , wherein:
 a vibration of the first arm is suppressed based on an output from the angular velocity sensor.   
     
     
         19 . The robot according to  claim 9 , wherein:
 a vibration of the first arm is suppressed based on an output from the angular velocity sensor.   
     
     
         20 . The robot according to  claim 1 , wherein:
 the angular velocity sensor is a gyroscope.