ROBOT CONTROL METHOD AND APPARATUS.

摘要

Method for controlling a robot according to this invention lies in that, in controlling a robot that comprises shafts having one degree of freedom or a plurality of degrees of freedom, and where a dynamic load is applied to at least one of the above shafts, the shafts being driven by a servo motor via a speed reducer, the improvement is characterized in that the shaft to which the load is applied is moved in a load acting direction and thereafter is stopped. This invention is enabled by the discovery that the efficiency (normal efficiency) from the servo motor to the arm (shaft) forms an almost the same value relative to the efficiency (reverse efficiency) from the arm to the servo motor. A condition of transmitting the load from the arm is intentionally made and the load is made to establish equilibrium with the torque generated by the servo motor, thus reducing the consumption of electricity and the generation of heat.