VIBRATION MEASUREMENT METHOD FOR MOVABLE SECTION, VIBRATION MEASUREMENT METHOD FOR ROBOT, AND CONTROL DEVICE

摘要

PROBLEM TO BE SOLVED: To provide a vibration measurement method for a movable section capable of quantitatively measuring a magnitude of vibration of the movable section in a state of the movable section resonating, and a vibration measurement method for a robot, and a control device.SOLUTION: A vibration measurement method measures vibration of a movable section by using a first inertia sensor. The vibration measurement method for the movable section includes the steps of: driving the movable section by a drive section driving the movable section and performing measurement by the first inertia sensor in a state of the movable section resonating; and obtaining a magnitude of the vibration of the movable section based on output of the first inertia sensor. Further, as one example of the movable section, a plurality of arms provided around a rotary shaft in a rotatable manner and the like are listed.SELECTED DRAWING: Figure 1