| 摘要 |
PROBLEM TO BE SOLVED: To stop quickly at a desired position while suppressing vibration of a robot in a stop operation of the robot.SOLUTION: A control device 10 which controls an angle of a joint J of a robot R driven by a motor M includes: a joint angle command calculation unit 11 for calculating a joint angle command value &thetas;which instructs an angle of the joint J; a shaft force torque calculation unit 12 for calculating a shaft force torque which is generated in a joint shaft of the robot R; an elastic deformation compensation unit 13 for calculating a motor command angle &thetas;by adding a deflection amount of the joint J calculated from the shaft force torque and the spring constant of the joint J of the robot R to the angle of the joint J instructed by the joint angle command value &thetas;; a stop position detection unit 15 for detecting an angle of the motor M when the robot R comes into contact with a work W; and a command angle switching unit 16 for outputting the angle of the motor detected by the stop position detection unit 15 instead of the joint angle command value &thetas;outputted from the joint angle command calculation unit 11, when the stop position detection unit 15 outputs the angle of the motor M. |
