| 摘要 |
In an assembly line where robots are put into practical use, a robot control apparatus of the invention calculates and stores in advance the weights and inertia of many works held by the hand of a robot. Whether the robot's hand is holding the work or not or the kind of the work held is discriminated on the basis of a control program and the corresponding inertia is read out, in order to compensate the drive torque command for the servo motor. Thus the robot can be easily controlled, and the operation can be processed quickly. |
