ROBOT CONTROL METHOD, ROBOT APPARATUS, PROGRAM, AND RECORDING MEDIUM

摘要

PROBLEM TO BE SOLVED: To reduce computational complexity and reduce robot tip end position posture errors.SOLUTION: A control unit calculates a position posture error uin each of joints of a robot (S4 to S6). The control unit calculates a first correction amount sufor each joint using an error component in an actuator drive direction contained in the joint position posture error u(S7). The control unit calculates a residue u' obtained by excluding the error component in the actuator drive direction from the joint position posture error for each joint (S8). The control unit calculates a position posture error in a tip end of the robot based on the residue u' of each joint (S11). The control unit calculates a second correction amount Δqfor each joint using the joint position posture error based on the position posture error in the tip end of the robot (S12). The control unit corrects a joint command value qfor each joint using the first correction amount suand the second correction amount Δq(S15).SELECTED DRAWING: Figure 3