ROBOT AND FRICTION COMPENSATION METHOD FOR THE ROBOT

摘要

The present invention relates to a robot and a method for compensating the friction of the robot. The robot according to an embodiment of the present invention includes a master device including an input unit composed of a first end effector and a first joint; a slave device which is remotely controlled by the mater device and which includes a robot arm composed of a second end effector and a second joint; and a control unit which calculates a friction compensation value for compensating a frictional force of the second joint based on a speed of the input unit when the input unit moves and which provides control signals, in which the friction compensation value is reflected, to a motor installed on the second joint.