| 摘要 |
PURPOSE:To attain the positioning of high accuracy, by using an equation of motion of a robot obtained from the transfer function of the robot driving system in a representative small section on a norm orbit, for decreasing the deviation between a response signal at the response of robot and an objective signal. CONSTITUTION:The robot is responded with the objective signal g(t) at a representative small section Pj(j=1,2...N) on the norm orbit and a response signal mO(t) in this case is measured and stored. Then, the robot is responded with a command signal Cl(t) superimposing an external disturbance signal on the objective signal g(t), a response signal ml(t) in this case is measured to obtain a transfer function Hjl(omega) of the robot drive system to the external disturbance signal. Further, an equation of motion of the robot drive system over the entire norm orbit is obtained from Equation I (AO-An are coefficients). A correcting signal cancelling the deviation between the objective signal g(t) and the response signal mO(t) is calculated with Equation II(where; dl(t) is the deviation between the objective signal and the response signal), and a new command signal Cl+1(t) with Equation III (where; g(t) is the objective signal and al(t) is the correcting signal) to drive the robtot. |
