| 摘要 |
A robot control device (20) controls the operation of a robot (1) including a base (11); a robot arm (5) that has at least three links (12, 13, ..., 19), at least three joint portions (171, 172, ..., 177), and at least three drive sources (401, 402, ..., 407); an inertia sensor (31); and at least three angle sensors (411, 412, ..., 417). The robot control device (20) includes a first coordinate system vibration calculation unit (501); a second coordinate system vibration calculation unit (501); a weighting unit (503, 504); a third coordinate system vibration calculation unit (501); a correction value calculation unit (502) that obtains correction values for correcting the respective drive commands of the drive sources (401, 402, ..., 407) based on vibration information in a third coordinate system, and the respective detected results of the angle sensors (411, 412, ..., 417); and a drive source control unit (201, 202, ..., 207) that controls the operations of the drive sources (401, 402, ..., 407) based on the respective drive commands of the drive sources (401, 402, ..., 407), the correction values, and the respective detected results of the angle sensors (411, 412, ..., 417). |
