| 主权项 |
1. A robot controlling method in which a controlling unit performs control for causing an actuator of each joint of a multi-joint robot to operate according to each joint instruction value, the robot controlling method comprising:
calculating, by the controlling unit, an error in position and orientation of each joint of the robot, for each of the joints; calculating, by the controlling unit, a first correction quantity for correcting the joint instruction value using an error component in a driving direction of the actuator included in the error in position and orientation of the joint obtained in the calculating the error in position and orientation of each joint, for each of the joints; calculating, by the controlling unit, a residual error excluding the error component in the driving direction of the actuator from the error in position and orientation of the joint obtained in the calculating the error in position and orientation of each joint, for each of the joints; calculating, by the controlling unit, an error in position and orientation of an end point of the robot based on the residual error of each of the joints obtained in the calculating the residual error; calculating, by the controlling unit, a second correction quantity for correcting the joint instruction value by using the error in position and orientation of the joint based on the error in position and orientation of the end point of the robot obtained in the calculating the error in position and orientation of the end point, for each of the joints; and correcting, by the controlling unit, the joint instruction value by using the first correction quantity and the second correction quantity, for each of the joints. |
