METHOD FOR COMPENSATING BACKLASH AND METHOD FOR MAKING BACKLASH COMPENSATION VALUE CALCULATING FORMULAR

摘要

The present invention relates to a method for compensating for a backlash on multiple joints which are consecutively placed toward the end part from the central part. The method comprises: a step of detecting a joint whose moving direction changes among multiple joints using a control signal inputted by an operator among multiple joints; a step of substituting the angles of joints placed toward the central part based on the detected joint into a previously generated backlash compensation value calculating formula in order to calculate a backlash compensation value on the joints; a step of generating a compensation signal where the calculated backlash compensation value is applied to the control signal; and a step of operating the joint using the generated compensation signal.