Robot, the robot controller and a robot system
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Abstract
The present invention relates to a method capable of easily and reliably suppress vibration of the robot, the robot controller and a robot system. The robot comprising: a base; a first arm, which is a first rotation axis as a rotation center, in the above-described base rotatably connected to the above-described manner with respect to the base; and a second arm, which is the second rotation axis as a rotation center, in respect to the first arm turnably connected to said first arm; a third arm, which is the third rotation axis as a rotation center, relative to said second arm is turnably connected to the second arm; a first angular velocity sensor, which is provided to the first arm, and the angular velocity detection axis parallel to the first rotation axis; and a second angular velocity sensor, which is provided to the third arm and the angular velocity detecting axis of the first three rotation parallel to the axis.