| 摘要 |
PROBLEM TO BE SOLVED: To provide a robot and a robot control device capable of realizing a high speed specialization type, a vibration control specialization type when stopping operation and a compatible type for making both compatible in high speed performance and vibration control performance in stopping.SOLUTION: A robot of the present invention comprises: a rotatable arm; a driving source for rotating the arm; an angular speed sensor installed in the arm; a position sensor for detecting a rotation angle of the driving source; a support circuit for executing vibration control based on a detection result of the angular speed sensor; and an operation mode setting part for setting an operation mode. The operation mode setting part selectively sets three operation modes of a first operation mode, a second operation mode of operating the arm at a higher speed than the first operation mode and a third operation mode of reducing vibration of the arm more than the first operation mode, by changing a correction factor multiplied to maximum acceleration and maximum deceleration of the arm and servo gain of a servo circuit. |
