CONTROL DEVICE AND CONTROL METHOD FOR ROBOT AND THE ROBOT

摘要

A control method for suppressing vibration of a robot arm including a plurality of coupled links and driving units configured to drive the links includes calculating a first arm speed from at least one of acceleration and an angular velocity detected in a damping position for suppressing vibration, calculating a third arm speed according to the detected first arm speed and a second arm speed in the damping position calculated on the basis of a driving amount of the driving units, and subjecting the driving units to correction control on the basis of the calculated third arm speed.

主权项

1. A control device for a robot including: a robot main body; an arm coupled to the robot main body and including a plurality of links; driving units configured to drive the plurality of links present between the robot main body and a first position of the arm; an angle sensor configured to detect a driving amount of the driving units; and an inertia sensor set in a first position,
the control device comprising: a first calculating unit configured to calculate a first arm speed from at least one of the acceleration and the angular velocity detected by the inertia sensor; a second calculating unit configured to calculate a driving speed from the driving amount of the driving units detected by the angle sensor and calculate a second arm speed in the first position based on the driving amount and the driving speed; and a control unit configured to control the driving units based on a correction speed calculated for each of the driving units based on the first arm speed and the second arm speed.