| 摘要 |
PCT No. PCT/JP92/01512 Sec. 371 Date Jul. 7, 1993 Sec. 102(e) Date Jul. 7, 1993 PCT Filed Nov. 19, 1992 PCT Pub. No. WO93/09920 PCT Pub. Date May 27, 1993.A method for controlling a robot that comprises shafts having one degree of freedom or a plurality of degrees of freedom, and where a dynamic load is applied to at least one of the above shafts, the shafts being driven by a servo motor via a speed reducer, includes the steps of stopping the robot at a point, thereafter moving the shaft to which the load is applied in a load acting direction and thereafter stopping the shaft. The efficiency (normal efficiency) from the servo motor to the arm (shaft) forms an inverse number relative to the efficiency (reverse efficiency) from the arm to the servo motor. A condition of transmitting the load from the arm is intentionally made and the load is made to establish equilibrium with the torque generated by the servo motor, thus reducing the consumption of electricity and the generation of heat.
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