CONTROL METHOD AND CONTROL DEVICE

摘要

Provided are a control method and a control device that can make the range of periodic activity (amplitude of reciprocal movement) of an object of control, such as an industrial robot, the same as a case in which the reduction device has no backlash or the same as the amplitude of a position instruction signal. A control device (3) that carries out position control for an arm (5), which carries out periodic movement, while compensating for backlash in the arm (5) is provided with a control unit (15) that adds to a position instruction signal, which gives instructions for the position of the arm (5), a backlash quantity signal after the backlash quantity signal has been shifted so as to be delayed by a delay time, generates a final position instruction signal, and carries out position control of the arm (5) on the basis of the final position instruction signal that has been generated, said backlash quantity signal compensating for backlash.

主权项

1. A control method that performs position control of a control object while compensating for backlash in the control object, the control object being configured to move periodically, the control method comprising:
a final position command signal generating step of generating a final position command signal by shifting a backlash quantity signal that compensates for the backlash and adding the backlash quantity signal to a position command signal indicating a position of the control object; and a position control step of performing position control of the control object on the basis of the final position command signal generated in the final position command signal generating step.