| 摘要 |
PROBLEM TO BE SOLVED: To facilitate a deflection correction by the aging of a joint axis without measuring an actual angle.SOLUTION: With respect to a multi-jointed robot 1 equipped with a position command section 81 that outputs position command values &thetas;n of gravity axes 20, 30, 50 to which loads in a direction of gravity are applied, a load torque calculation section 85 that computes load torque τ(&thetas;n), a slope correction calculation section 86 that multiplies load torque by spring constant K (n) to obtain a correction amount d&thetas;n by deflection, and a command value correction section 87 that adds the correction amount to the position command value for outputting to a servomotor, an angle confirmation position set at a predetermined angle is installed on the gravity axis, while positioning is performed so that the gravity axis comes to be identical with the angle confirmation position, whereas a difference d&thetas;(n, i) between a confirmation position command value &thetas;(n, i) and a theoretical position command value &thetas;tn is divided by a confirmation position negative torque τn to obtain a value as a spring constant K (n) for storage, then a negative torque is calculated from the position command value of the gravity axis at a negative torque calculation section, and the negative torque is multiplied by the spring constant so as to correct the slope in the direction of gravity. |
