| 摘要 |
PROBLEM TO BE SOLVED: To provide a control device for a robot for improving control precision without the need of providing any sensor for correction. SOLUTION: When end-point moving amounts are determined with the end-point position of an arm 6 to be gripped as a reference from the result of an arithmetic operation accompanied by control, the target position of the destination of movement is determined. The target position is converted into each axial target rotation angle of the arm 6, and the target rotation angle is converted into a command value equivalent to the number of pulses to be output by an encoder 9. A motor 5 is controlled to be driven according to the command value, and when the number of pulses to be output by the encoder 9 is converted into the rotation angle, a difference between the converted rotation angle and the target rotation angle is calculated and accumulated. The converted rotation angle is converted into a position, and a position error accumulation part 32 calculates and accumulates a difference between the position and the target position. When the accumulated position error amounts are equal to or more than the minimum unit of the moving amounts which can be instructed, a quotient obtained by dividing the position error amounts by the minimum unit is added to the end-point moving amounts, and the arithmetic result is output to the motor 5, and the remainder is stored in the position error accumulation part 32, and the accumulated value is updated, and the zero-clear of the accumulated angle error amounts is performed. COPYRIGHT: (C)2011,JPO&INPIT
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