| 摘要 |
PROBLEM TO BE SOLVED: To provide flexible control of a working coordinate system that can cope with displacement of large stroke without using a sensor or the like, flexibly operate in a specific direction of a working coordinate system with simple operation and operate with high locus accuracy in directions other than the specific direction. SOLUTION: This robot control device has a first forward conversion means for converting a measured joint angle into the position data of a working coordinate system; a second forward conversion means for converting a joint command into the position command data of the working coordinate system; a deviation correcting means for limiting computed position deviation data on the basis of the position data and position command data; an adding means for computing the position data of a second working coordinate system from the position command data and the position deviation data computed by the deviation correcting means; and a reverse conversion means for computing a second joint angle from the position data of the second working coordinate system. The second joint angle is used for state feed-back. COPYRIGHT: (C)2003,JPO
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