POSITION CONTROLLER, POSITION CONTROL METHOD, ROBOT CONTROLLER AND ROBOT CONTROL METHOD

摘要

PROBLEM TO BE SOLVED: To prevent the occurrence of an error in a trajectory of operation caused by phase difference of a band-elimination filter which eliminates resonant frequency components of a position instruction when resonant frequencies are different for each axis constituting a robot in suppression of oscillation by using the band-elimination filter. SOLUTION: This position controller has: a differentiator 30 which differentiates the position instruction; a notch filter 31 which receives output of the differentiator and eliminates components having the resonant frequency of a joint axis as a center frequency; an integrator 32 which integrates output of the notch filter; an amplifier 33 which amplifies the output of the notch filter; and an adder 50 which adds output of the integrator and output of the amplifier together and generates a second position instruction to be output to a position control block. The error in a trajectory operation resulting from phase difference between axes of the notch filter is minimized even when band-elimination frequencies are different for each axis by using a notch filter to which a speed component feed-forward compensation function is added as the band-elimination filter. COPYRIGHT: (C)2008,JPO&INPIT