| 摘要 |
PROBLEM TO BE SOLVED: To suppress vibration generated in an arm during the operation of a robot and achieve improvement of arm positional accuracy under the operation thereof.SOLUTION: A control method for a robot for suppressing the vibration of an arm of the robot having an arm 20 constituted so as to include a plurality of coupled links and driving sections 40 for driving the plurality of links constituting the arm 20 comprises the steps of: detecting an arm actual speed at which a damping position serving as an object position where vibration is suppressed is moved; calculating an arm strain rate obtained by comparing the arm actual speed detected and an arm driving speed calculated on the basis of driving amounts of the driving sections 40 at which the damping position is driven; and correction controlling the driving sections 40 on the basis of the arm strain rate calculated. |
