Method of controlling robot and robot
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United States of America Patent
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Sep 1, 2015
Grant Date -
Jul 25, 2013
app pub date -
Jan 18, 2013
filing date -
Jan 20, 2012
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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.
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