| 摘要 |
<p>A robot control device and a control method suppress vibrations of a robot arm composed of an arm including a plurality of links and an operating part operating the links. The method calculates a third speed based on both a first arm speed from at least one of an angular speed and acceleration detected from a vibration blocking position suppressing the vibrations and a second arm speed at a vibration control position calculated based on the operation of an operating part. The method controls the operating part based on the third arm speed. [Reference numerals] (40) Operating part; (50) Encoder; (60) Inertia sensor; (81) First calculating part (arm actual speed); (82) Second calculating part (arm operating speed); (83) Third calculating part; (84) Fourth calculating part (corrected speed); (85) Control part; (87) Jacobi matrix calculating part; (AA) Jacobi matrix J; (BB) Arm distortion speed; (CC) Reverse Jacobi matrix J^-1</p> |
