LOCUS CONTROL METHOD FOR ROBOT

摘要

PURPOSE:To control the locus of a robot with high accuracy by obtaining the angular deviation caused by the warp of a spring produced in a power transmission system of the rotational pair produced in a power transmission system of the rotational pair and adding the angular deviation to the rotational angle. CONSTITUTION:The rotational angle of the drive device of each rotational pair is read by a rotational angle detector 23a. While an angular velocity detector 22a reads the angular velocity of said drive device. Then the angular deviation DELTAtheta1 of each rotational pair itself is calculated from the rotational angle and the angular velocity. The angular deviation of the drive device obtained from the deviation DELTAtheta1 is added to the rotational angle of the drive device of each rotational pair. Based on this added value, the command velocity is calculated from the position an the posture of a handle. Then the command velocity is converted into the angular velocity of each drive device and the angular velocity of said drive device is delivered from an angular velocity detector 38. Thus it is possible to control the locus of a robot based on the value approximate to the actual rotational angle of the rotational pair even though a reduction gear has the spring warp.