| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide a method fully suppressing vibration of a working arm with low rigidity included in a simple installation type robot or the like by the control in which the change of acceleration is calm. <P>SOLUTION: This vibration suppression method for a working arm drives a base with a speed pattern in which the speed is continuously changed using a sin function when driving the base of the working arm to move a distal end and when suppressing the vibration during the movement of and after the stop of the distal end. <P>COPYRIGHT: (C)2013,JPO&INPIT |
