| 摘要 |
PROBLEM TO BE SOLVED: To restrain the vibrations of controlled objects including accessories such as an end effector, etc., mounted on machinery like a robot, a machine tool and others. SOLUTION: The control device measures the natural frequencies of the end effector and various kinds of machinery in themselves, which are mounted on the robot serving as the controlled object whose vibration amplitude is to be reduced, and determines the coefficient of a filter for reducing a natural vibration amplitude according to the natural frequency. In the case of the end effector, the natural frequency is set and stored according to each of the various end effectors and the situations in which they are used, and the coefficient of the filter is determined on the basis of the natural frequency in accordance with the used end effector and the situation in which it is used. In the case of restraint in the vibrations of the machinery in itself, the natural frequency of the machinery is constantly detected, and the coefficient of the filter is altered according to a natural detection-and-measurement frequency. Consequently, the coefficient of the filter is altered in compliance with the natural frequency of the machinery, which is changed according to a load change, a secular change and the like, for the natural vibration amplitude to be reduced.
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