| 摘要 |
PURPOSE:To control a robot stably with low vibration by providing a low pass filter between a path interpolation section and a servo section. CONSTITUTION:The low pass filter 13 is provided between the path interpolation section and the servo section in a controller for a robot comprising the path interpolation section between position data and the servo section taking the output as a command. In general, a sampling frequency ftau of a servo system 14 is set larger than an interpolation frequency fc to guarantee the safety of the system and the sampling frequency of the low pass filter 13 is also made equal to the sampling frequency ftau of the servo system 14 and a low pass filter 13 is realized by the software processing. Thus, unstable servo system 14 or the resonance of robot main body 15 are prevented.
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