| 摘要 |
<p>A non-interactive controller for multiaxis robots, capable of obtaining a stable path accuracy. This controller, which is adapted to control a robot of a structure in which at least not less than two arms are serially connected via joints, is provided with an inertial matrix calculating mechanism (31) adapted to form an inertial matrix on the basis of an angle of each arm and dynamic parameters, such as mass and length of each arm, a mechanism (33) adapted to compute non-interacting condition variable including acceleration of each arm, a mechanism (32) adapted to compute non-interacting gain to be multiplied by these condition variables, a multiplier (34) and an adder (35) adapted to subject the non-interacting condition variables and non-interacting gain to multiplication and addition, and a filter processor (36) used to eliminate higher harmonic ripples from a non-interacting torque command obtained by these calculations.</p> |
