| 摘要 |
PROBLEM TO BE SOLVED: To effectively suppress resonance of a robot.SOLUTION: A robot is operated according to an operation program (S2: operation process). A determination is made as to whether or not the robot is resonated from vibration detected by a force sensor (S4: determination process). In the case that the robot is resonated, a characteristic frequency of the robot is calculated (S5: characteristic frequency calculation process). A vibration frequency of each joint is calculated from vibration detected by each vibration detection part (S11: vibration frequency calculation process). A joint which generates resonance of the robot is identified by comparison between the characteristic frequency and each vibration frequency (S6: identification process). A rotation number of an electric motor of a joint driving part for driving the identified joint is altered and the operation program is updated (S7: update process). |
