| 摘要 |
PROBLEM TO BE SOLVED: To design a controller for setting a gain parameter in an off-line manner while considering factors which cannot be included in a mathematical formula, and for suppressing generation of parasitic vibration in a robot to change the dynamic characteristic depending on the attitude and the position. SOLUTION: A finite number of selection points for a part to be controlled are selected in advance in a series of motions of a robot, and a non-linear dynamic characteristic of the robot is linearized for each selection point in the vicinity thereof. The system identification is performed for each selection point in the vicinity thereof from input-output data when the robot is actually moved, the difference between a linearized model and the identified model is acquired as non-certainty to represent the parasitic vibration characteristic of the robot, a gain cross frequency is selected to avoid generation of the resonance mode attributable to the non-certainty, the phase margin is sufficiently ensured, and the gain in the controller at each selection point is determined. COPYRIGHT: (C)2004,JPO
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