OLIGONUCLEOTIDE FOR DETECTION AND IDENTIFICATION OF MYCOBACTERIA

摘要

A method of controlling a multiaxial robot having a mechanism with a spring element between the motor and the robot arm for each axis neither generating a vibration caused by the interference between the axes nor generating a high frequency vibration of the motor, thus improving the path precision of a tool tip. A model controller (1) outputs model motor position commands theta Mm_L and theta Mm_U, model motor speed commands theta Mm_L and theta Mm_U and model feedforward commands U FF_F and U FF_L to feedback controllers (10 L, 10 U) which receive position commands X ref_L and X ref_U for the motors and drive and control the motors and the robot arms. Correction calculation units (3 L, 3 U) provided in the model controller (1) calculates corrections (correction torques) considering interference forces between the axes to cancel the interference forces and outputs the model feedforward commands to which the corrections are added.