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Title:
ROBOT AND METHOD FOR REMOVING NOISE OF ROBOT
Document Type and Number:
Japanese Patent JP2012139807
Kind Code:
A
Abstract:

To provide a robot that does not oscillate in a feedback system using an inertia sensor.

The robot includes: an arm 101; an arm linking part 104 which includes a motor 103 and a torque transmission mechanism 102 that cause the arm to rotate; a base 105 which is linked to the arm linking part 104 at an end part of the arm 101; an angle sensor 106 for detecting the rotation angle of the motor 103 and outputting rotation angle information with regard to the motor 103; the inertia sensor 107 which outputs information with regard to inertial force acting on the arm 101; a control part 108 for controlling rotational movement of the arm 101; a noise detection part 109 for detecting the noise frequency of the inertia sensor 107 from the output of the angle sensor 106 and the output of the inertia sensor 107; a filter constant determination part 110 for determining the characteristics of a filter 111 from information of the noise detection part 109; and the filter 111 for removing noise of the inertia sensor 107 on the basis of the filter constant determination part 110.


Inventors:
SASAI SHIGENORI
Application Number:
JP2011000979A
Publication Date:
July 26, 2012
Filing Date:
January 06, 2011
Export Citation:
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Assignee:
SEIKO EPSON CORP
International Classes:
B25J9/10
Domestic Patent References:
JPH10128688A1998-05-19
JP3883544B22007-02-21
JP2010284770A2010-12-24
JP2007075967A2007-03-29
JP2002353778A2002-12-06
JPH106261A1998-01-13
JP2010284758A2010-12-24
JP2005212054A2005-08-11
JP2007044781A2007-02-22
JP2004334772A2004-11-25
JP2004171333A2004-06-17
JP2713899B21998-02-16
JPH10128688A1998-05-19
JP3883544B22007-02-21
JP2010284770A2010-12-24
JP2007075967A2007-03-29
JP2002353778A2002-12-06
JPH106261A1998-01-13
JP2010284758A2010-12-24
JP2005212054A2005-08-11
JP2007044781A2007-02-22
JP2004334772A2004-11-25
JP2004171333A2004-06-17
JP2713899B21998-02-16
Foreign References:
WO2006022201A12006-03-02
WO2000024053A12000-04-27
WO2006022201A12006-03-02
WO2000024053A12000-04-27
Attorney, Agent or Firm:
Masahiko Ueyanagi
Osamu Suzawa
Kazuhiko Miyasaka



 
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