| 摘要 |
A first method of controlling a robot arm driven by a motor via a reduction gear comprising a step of calculating a generation torque generated by the motor, a step of calculating a frictional torque, including at least a dynamic frictional torque of a reduction gear necessary for an output of the reduction gear from the torque by an inverse dynamic calculation, a step of increasing a dynamic torque of the reduction gear according to the frictional torque necessary for the output of the reduction gear and a step of calculating an external force by subtracting the increased frictional torque from the generated torque. A second method of controlling a robot arm driven by a motor via a reduction gear comprises a step of conducting a motor output torque compensation by feedforward control according to the inverse dynamic calculation of the robot for finding a torque necessary for the reduction gear output and according to the dynamic frictional torque calculation of the reduction gear, wherein the dynamic frictional torque of the reduction gear is increased in proportional to the torque necessary for the reduction gear output in the case of conducting feedback control.
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