Robot, control apparatus, and robot system
A robot includes a robot arm and an inertial sensor provided in the robot arm. The robot arm is controlled using a weighting value for weighting output from the inertial sensor. In at least apart of a range in which the robot arm is movable, the weighting value is a first value when acceleration of the robot arm is first acceleration, and changes from the first value to a second value higher than the first value when the acceleration of the robot arm changes from the first acceleration to second acceleration lower than the first acceleration.
1. A robot comprising:
a robot arm; and
an inertial sensor provided in the robot arm,
wherein the robot arm is controlled using a weighting value for weighting output from the inertial sensor, and
in at least a part of a range in which the robot arm is movable, the weighting value is a first value when an acceleration of the robot arm is a first acceleration, and changes from the first value to a second value higher than the first value when the acceleration of the robot arm changes from the first acceleration to a second acceleration which is lower than the first acceleration.
2. The robot according to claim 1 ,
wherein the robot arm is provided on a base and has a first arm rotatable about a first rotation shaft and a second arm rotatable about a second rotation shaft in an axis direction different from an axis direction of the first rotation shaft, and
a maximum length between the first rotation shaft and a distal end of the robot arm is equal to or more than 970 mm.
3. The robot according to claim 1 ,
wherein a mass of the robot arm is equal to or more than 30 kg.
4. The robot according to claim 1 ,
wherein maximum load provided in the robot arm exceeds 5 kg.
5. The robot according to claim 1 ,
wherein, in at least a part of the range in which the robot arm is movable, the acceleration of the robot arm when a load provided in the robot arm is equal to or more than a predetermined threshold value is lower than the acceleration of the robot arm when the load is less than the threshold value.
6. The robot according to claim 1 ,
wherein the weighting value changes according to the acceleration of the robot arm.
7. The robot according to claim 1 ,
wherein the robot arm has a rotatable arm, and
the acceleration of the robot arm is an angular acceleration of the arm.
8. The robot according to claim 1 ,
wherein the robot arm has a rotatable arm, and
the range in which the robot arm is movable is a range in which the arm is rotatable.
9. The robot according to claim 1 ,
wherein the robot arm is provided on a base and has a first arm rotatable about a first rotation shaft, a second arm rotatable about a second rotation shaft in an axis direction different from an axis direction of the first rotation shaft, a first reducer that decelerates driving of the first arm, and a second reducer that decelerates driving of the second arm, and
rigidity of the first reducer and rigidity of the second reducer are equal to or more than 40000Nm/rad.
10. A control apparatus controlling the robot according to claim 1 .
11. A control apparatus controlling the robot according to claim 2 .
12. A control apparatus controlling the robot according to claim 3 .
13. A control apparatus controlling the robot according to claim 4 .
14. A control apparatus controlling the robot according to claim 5 .
15. A control apparatus controlling the robot according to claim 6 .
16. A robot system comprising:
the robot according to claim 1 ; and
a control apparatus controlling the robot.
17. A robot system comprising:
the robot according to claim 2 ; and
a control apparatus controlling the robot.
18. A robot system comprising:
the robot according to claim 3 ; and
a control apparatus controlling the robot.
19. A robot system comprising:
the robot according to claim 4 ; and
a control apparatus controlling the robot.
20. A robot system comprising:
the robot according to claim 5 ; and
a control apparatus controlling the robot.