| 摘要 |
PROBLEM TO BE SOLVED: To perform weaving operation at high trajectory accuracy by compensating effect of elastic deformation of each shaft, 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 10 comprises: a joint angle command value calculation unit 100; an axial force torque calculation unit 200; a first dynamic characteristic operation unit 300; a second dynamic characteristic operation unit 400; a feedback control unit 500; and a motor angle command value calculation unit 600. The first dynamic characteristic operation unit 300 performs filtering processing of a motor angle command value &thetas;mc output from the motor angle command value calculation unit 600, and outputs a motor angle target value &thetas;md after the processing. The second dynamic characteristic operation unit 400 has high-frequency cut-off properties having a lower cut-off frequency than the first dynamic characteristic operation unit 300, performs the filtering processing of an output from the axial force torque calculation unit 200, and outputs an axial force torque compensation value fd after the processing. |
