| 摘要 |
PROBLEM TO BE SOLVED: To suppress the occurrence of vibration due to the delay of an inertial-sensor signal. SOLUTION: A robot control method is used for a robot controller configured as follows. The robot controller includes: an arm 40 serving as a link rotatable with respect to a base body; a motor 20 serving as an actuator for driving the arm 40; a speed-reduction mechanism 60 that transmits torque of the motor 20 to the arm 40 at a reduction ratio N; an arm rotated by the link; an angle sensor that detects a rotation angleθm of the actuator; and an inertial sensor that detects a rotation angleθa of the arm. A delay amount of an inertial-sensor signal is added to the motion equation of a mechanism model system of a robot so as to set a feedback gain and to suppress vibration of the link due to the delay of the inertial-sensor signal. COPYRIGHT: (C)2011,JPO&INPIT
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