| 摘要 |
When a multiaxial robot with a mechanism having spring elements between electric motors of respective axes and robot arms is controlled, the path precision of a tool tip is increased without causing vibrations produced by mechanical interference between axes and high-frequency vibrations of electric motors. A model controller (1) is supplied with position commands X ref_L, X ref_U with respect to the electric motors and outputs model motor position commands .theta.Mm_L, .theta.Mm_U, model motor speed commands ~.Mm_L, ~Mm_U, and model feed-forward commands U FF_L, U FF_U to feedback controllers (10L, 10U) which actuate and control the electric motors and the robot arms. The model controller (1) includes therein corrective quantity calculators (3L, 3U) for calculating corrective quantities (corrective torques) in view of interfering forces acting between the axes from the other axes to cancel the interfering forces. The model controller (1) outputs the model feed-forward commands with the corrective quantities added thereto.
|
