ROBOT CONTROL DEVICE AND ROBOT CONTROL METHOD

摘要

PROBLEM TO BE SOLVED: To provide a robot control device and a robot control method which require no complicated computation for coordination conversion and accurately control the operation of a link. SOLUTION: The robot control device is provided with; a first link 3 which can rotate with respect to a base body 1; a first actuator 4 which drives the first link 3; a first torque transmission mechanism 5 which transmits the torque of the first actuator 4 to the first link 3 at a deceleration rate of N1; a first angle sensor 6 which detects a rotation angleθM1of the first actuator 4; a first angular speed sensor 12 which detects an angular speedωL1of the first link 3 with respect to the base body 1; and a computation part 15 which computes an angular speedθA1of the first link 3 by using a high frequency component of integrated valueωL1and a low frequency component ofθM1*N1. COPYRIGHT: (C)2005,JPO&NCIPI