Title:
ROBOT AND ROBOT NOISE REMOVAL METHOD
Document Type and Number:
WIPO Patent Application WO/2012/093447
Kind Code:
A1
Abstract:
Provided is a robot comprising: 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 section 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); an 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 (3-5 Owa 3-chome, Suwa-sh, Nagano 02, 〒3928502, JP)
Application Number:
JP2011/007090
Publication Date:
July 12, 2012
Filing Date:
December 19, 2011
Export Citation:
Assignee:
SEIKO EPSON CORPORATION (4-1 Nishi-shinjuku 2-chome, Shinjuku-ku Tokyo, 11, 〒1630811, JP)
セイコーエプソン株式会社 (〒11 東京都新宿区西新宿二丁目４番１号 Tokyo, 〒1630811, JP)
セイコーエプソン株式会社 (〒11 東京都新宿区西新宿二丁目４番１号 Tokyo, 〒1630811, JP)
International Classes:
B25J9/10
Attorney, Agent or Firm:
KAMIYANAGI, Masataka et al. (80 Harashinden Hirooka, Shiojiri-sh, Nagano 85, 〒3990785, JP)
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Claims: