| 摘要 |
PROBLEM TO BE SOLVED: To perform weaving operation at high trajectory accuracy by compensating effect of elastic deformation of each shaft, and to cause disturbance vibration to be quickly settled, in an articulated robot in which a motor and an arm are coupled via a speed reducer performing elastic deformation.SOLUTION: An elastic deformation compensation control device 50 comprises: a joint angle command value calculation unit 100; an axial force torque calculation unit 200; dynamic characteristic operation units 300, 400, 410; a feedback control unit 5500 including an observer 5000; and a motor angle command value calculation unit 600. The third dynamic characteristic operation unit 410 performs low-pass filter processing of an output &thetas;lc from the joint angle command value calculation unit 100 being a target value of a state amount (joint angle) at a joint side estimated by the observer 5000 to exclude vibration components, and provides it as a target value of state feedback control. |
