Title:
ROBOT
Document Type and Number:
Japanese Patent JP2019107708
Kind Code:
A
Abstract:
To provide a robot which can improve accuracy of position control while achieving a reduction in size thereof.SOLUTION: A robot comprises: an arm; a motor having a rotating shaft outputting driving force rotating the arm; a gear device transmitting the driving force to the arm; and a control part vibrating the rotating shaft around an axis at a frequency higher than a natural frequency of the arm. The control part outputs a signal offsetting a center of vibration of the rotating shaft in a rotational direction.SELECTED DRAWING: Figure 1
Inventors:
KONDO TAKAYUKI
TOKUSHIMA HIROKI
TOKUSHIMA HIROKI
Application Number:
JP2017240498A
Publication Date:
July 04, 2019
Filing Date:
December 15, 2017
Export Citation:
Assignee:
SEIKO EPSON CORP
International Classes:
B25J13/00
Attorney, Agent or Firm:
Tatsuya Masuda
Kazuo Asahi
Kazuo Asahi