ELASTIC DEFORMATION COMPENSATION CONTROLLER FOR MULTI-JOINT ROBOT

摘要

PROBLEM TO BE SOLVED: To compensate an influence of elastic deformation of each shaft and make a multi-joint robot perform weaving operation with high locus accuracy, the multi-joint robot in which a motor and an arm are coupled via a decelerator which is elastically deformable.SOLUTION: An elastic deformation compensation controller 10 comprises: a joint angle command value calculation part 100; a shaft force torque calculation part 200; a first dynamic characteristic operation part 300; a feedback control part 500; and a motor angle command value calculation part 600. The first dynamic characteristic operation part 300 is formed of an interpolation part formed through N-th curve interpolation and a filter part formed of an M-th filter, in which N+M is 4 or more.