| 摘要 |
<p>PROBLEM TO BE SOLVED: To provide a robot control device which prevents deterioration of control performance of speed fluctuation of an end effector due to a dead zone area in which a motor current of each axis switches from a positive region to a negative region or from a negative region to a positive region.SOLUTION: A controller RC performs servo-control of servo-motors 41 to 47 for driving joint axes of a manipulator by a CPU 91 including a current control loop provided with PID control. The CPU 91, when a phase current of the servo-motors 41 to 47 enters a dead zone area including a zero-cross, performs feed-forward control of the servo-motors 41 to 47 by a preset feedforward amount in addition to the current control loop, and also performs integral control of the current control loop by an integral gain larger than the integral gain of the current control loop right before entering the dead zone area. When the phase current goes out of the dead zone area, the CPU 91 stops the feed-forward control and returns the integral gain volume to that of the current control loop right before entering the dead zone area.</p> |
