WEAVING CONTROL DEVICE OF MULTI-JOINT ROBOT

摘要

Provided is a weaving control device that is of a multi-joint robot, is able to achieve a high-precision weaving, and suppress the occurrence of error in the weaving movement stemming from the effects of the movement of another joint axis and the dynamic characteristics of the motor driving the joint axis in question. The weaving control device 10 contains: a signal computation unit that computes the target position signal for each axis; a filter computation unit 400 that computes a target command signal resulting from low-pass filter processing of the target position signal; and a motor control unit 2500 that drives each axis with the target command signal as an input. The frequency characteristics of the gain of the motor control unit 2500 are configured in an approximately flat manner, and the dynamic characteristics from the target position to the motor output angle are similar to the filter. A weaving signal correction unit 200 computes a target position signal having a corrected gain on the basis of filter characteristics.