The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Mar. 26, 2019
Filed:
Jul. 23, 2015
Applicant:
Seiko Epson Corporation, Tokyo, JP;
Inventors:
Masaki Motoyoshi, Shiojiri, JP;
Tomokazu Hirabayashi, Hara, JP;
Assignee:
Seiko Epson Corporation, , JP;
Attorney:
Primary Examiner:
Int. Cl.
CPC ...
B25J 9/16 (2006.01); G01P 3/44 (2006.01); G01P 21/02 (2006.01);
U.S. Cl.
CPC ...
B25J 9/1607 (2013.01); B25J 9/1653 (2013.01); G01P 3/44 (2013.01); G01P 21/02 (2013.01); G05B 2219/40597 (2013.01); Y10S 901/02 (2013.01);
Abstract
A method of controlling a robot includes the steps of calculating a torsional angular velocity of an arm using a difference between an angular velocity detected by a gyro sensor and an angular velocity in a gyro sensor coordinate obtained from information detected by a first encoder and a second encoder, calculating a correction amount of a sensitivity error of the gyro sensor using a variation in the torsional angular velocity, and correcting sensitivity of the gyro sensor using the correction amount of the sensitivity error.