A control device controlling a robot including a robot arm, a drive section causing the robot arm to pivot around a pivot axis, a shaft that is provided at a position of the robot arm different from the pivot axis and that moves parallel to the pivot axis, and an angular velocity sensor that is provided in the robot arm and that detects angular velocity around an axis orthogonal to an axial direction of the pivot axis and parallel to a plane including the pivot axis and an axis of the shaft, the control device includes a processor that is configured to control the robot, wherein the processor is configured to perform feedback control on the drive section based on the angular velocity.

The automatic machine includes a movable member driven by a motor, a tool that is attached to the movable member and includes a movable mechanism that operates independently of the movable member, a sensor that is attached to the movable mechanism and measures a location of the movable mechanism, and a processor configured to detect, based on a location of the movable mechanism measured by the sensor when the motor is controlled in accordance with a command to move the tool to a target location and on an amount of movement of the movable mechanism from a reference point, detects a first location in a case in which the movable mechanism is virtually fixed to the reference point, and calculate a correction amount for a control amount of the motor in such a way as to decrease a difference between the target location and the first location.

The automatic machine includes a movable member driven by a motor, a tool that is attached to the movable member and includes a movable mechanism that operates independently of the movable member, a sensor that is attached to the movable mechanism and measures a location of the movable mechanism, and a processor configured to detect, based on a location of the movable mechanism measured by the sensor when the motor is controlled in accordance with a command to move the tool to a target location and on an amount of movement of the movable mechanism from a reference point, detects a first location in a case in which the movable mechanism is virtually fixed to the reference point, and calculate a correction amount for a control amount of the motor in such a way as to decrease a difference between the target location and the first location.

In a robot stopping method, if a shaft that moves at least a part of the robot in the gravity direction is defined as a Z shaft and a time at which the occurrence of the a power failure has been detected is set as a reference time, a first control is performed if the occurrence of the power failure has been detected when the Z shaft is in a state of ascent, in which based on an ascending speed of the Z shaft at the reference time, a time until a speed of the Z shaft reaches zero as a result of deceleration by a gravitational acceleration is calculated as a deceleration time, the Z shaft is driven so as to decelerate and stop ascent of the Z shaft by spending the deceleration time.

A robot including at least one joint shaft that includes: a first link member and a second link member that are coupled about a rotation axis; a reducer that has an input shaft part fixed to the first link member and an output shaft part fixed to the second link member; a motor that generates a driving force to be input to the reducer; and an input-side encoder that detects a rotation angle of a rotation shaft of the motor; and an output-side encoder that detects a rotation angle between the first link member and the second link member. The output-side encoder includes a scale member that has a pattern and a sensor that detects the pattern on the scale member. The scale member is fixed to an attachment surface, and the sensor is attached to a fixing member fixed to the first link member.

A robot including at least one joint shaft that includes: a first link member and a second link member that are coupled about a rotation axis; a reducer that has an input shaft part fixed to the first link member and an output shaft part fixed to the second link member; a motor that generates a driving force to be input to the reducer; and an input-side encoder that detects a rotation angle of a rotation shaft of the motor; and an output-side encoder that detects a rotation angle between the first link member and the second link member. The output-side encoder includes a scale member that has a pattern and a sensor that detects the pattern on the scale member. The scale member is fixed to an attachment surface, and the sensor is attached to a fixing member fixed to the first link member.

In a conveyance system, an object is conveyed by use of a conveyance robot. The conveyance robot includes: an arm including a shaft portion extensible and retractable in an axial direction of the shaft portion, and a protruding portion extending from the shaft portion in a direction different from the axial direction so as to be engaged with a groove formed on the object; a drive mechanism configured to rotate the arm around the axial direction as a rotating axis; and a detecting portion configured to detect an abnormality in the rotation angle of the arm.

In a conveyance system, an object is conveyed by use of a conveyance robot. The conveyance robot includes: an arm including a shaft portion extensible and retractable in an axial direction of the shaft portion, and a protruding portion extending from the shaft portion in a direction different from the axial direction so as to be engaged with a groove formed on the object; a drive mechanism configured to rotate the arm around the axial direction as a rotating axis; and a detecting portion configured to detect an abnormality in the rotation angle of the arm.

An autonomous mobile device has a main body and an extensible mast to raise and lower a payload, such as a camera, relative to the main body. The mast may comprise a set of telescoping sections, with each section comprising two or more pieces that are joined during assembly. A motor moves a flexible rack between a first spool and the mast to raise or lower the mast. For example, during extension a motor-driven pinion engages teeth on the flexible rack, pulling the rack from the first spool and pushing up the mast. A cable stored on a second spool may be extended and retracted with the flexible rack. The cable transfers one or more of data or power between the main body and the payload. A sensor may be used to detect features on the flexible rack to provide data about how far the flexible rack has been extended.

An autonomous mobile device has a main body and an extensible mast to raise and lower a payload, such as a camera, relative to the main body. The mast may comprise a set of telescoping sections, with each section comprising two or more pieces that are joined during assembly. A motor moves a flexible rack between a first spool and the mast to raise or lower the mast. For example, during extension a motor-driven pinion engages teeth on the flexible rack, pulling the rack from the first spool and pushing up the mast. A cable stored on a second spool may be extended and retracted with the flexible rack. The cable transfers one or more of data or power between the main body and the payload. A sensor may be used to detect features on the flexible rack to provide data about how far the flexible rack has been extended.