| 摘要 |
A method of adjustable-flexibility servo control, which provides software floating servo for the individual axes of an orthogonal coordinate system. A force (Fx, Fy, Fz) acting on the distal point of a tool on the orthogonal coordinate system SIGMA 0 is determined by using a deviation in position on the orthogonal coordinate system SIGMA 0 and a set parameter (Kx, Ky, Kz). The force (Fx, Fy, Fz) so obtained is converted to data (Fx(n+1), Fy(n+1), Fz(n+1)) on a tool coordinate system SIGMA n+1 using posture data of the robot. Further, assuming (Fx(n+1), Fy(n+1), Fz(n+1)) = (fx(n+1), fy(n+1), fz(n+1)), a torque Ti of each axis is calculated by a Newton-Euler method, and an input value Ei = Ti/(Kp Kv) to a position loop is calculated. The software floating servo is allowed to appropriately function by position loop processing using the position loop input Ei and speed loop processing using the position loop output.
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