发明申请
- 专利标题： ROBOTIC DEVICE AND METHOD OF CONTROLLING ROBOTIC DEVICE
- 专利标题（中）： 机器人装置和控制机器人装置的方法
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申请号： US14146778申请日： 2014-01-03
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公开(公告)号： US20140121832A1公开(公告)日： 2014-05-01
- 发明人: Shigenori SASAI
- 申请人： Seiko Epson Corporation
- 申请人地址： JP Tokyo
- 专利权人： Seiko Epson Corporation
- 当前专利权人： Seiko Epson Corporation
- 当前专利权人地址： JP Tokyo
- 优先权： JP2010-157633 20100712
- 主分类号： B25J9/16
- IPC分类号： B25J9/16
摘要：
A robotic device having an arm including an actuator and inertial sensor, a first calculator adapted to calculate an angular velocity and an angular acceleration of the actuator based on a rotational angle data from an angle sensor, a second calculator adapted to calculate one of an angular velocity and an angular acceleration of the arm based on an output detected by the inertial sensor, and a comparator adapted to compare one of the angular velocity and the angular acceleration calculated by the first calculator and one of the angular velocity and the angular acceleration calculated by the second calculator with each other, and it is determined that the inertial sensor is at fault if an absolute value of the difference between the actuator and the arm in one of the angular velocity and the angular acceleration in the comparison section is larger than a threshold value.
公开/授权文献
- US09403274B2 Robotic device and method of controlling robotic device 公开/授权日：2016-08-02
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