| 摘要 |
PURPOSE:To prevent the vibrations of a articulated manipulator by controlling the operating force based on the estimated exciting force. CONSTITUTION:A manipulator joint control part 10 outputs the joint angle command value to a driver circuit 50 in each control step in response to each joint of an articulated manipulator 60. The circuit 50 controls the joints of the manipulator 60 by a control system. An arm posture arithmetic part 20 calculates the length of a link of a component rectangular to the direction of gravity based on the angle command value of each joint decided by the circuit in each control step as well as the link length. A joint load torque arithmetic part 30 calculates the estimated load torque of each joint in each control step and then calculates a load torque fluctuation component, i.e., the difference between said estimated torque and the load torque applied to each joint. A joint angle correcting value arithmetic part 40 calculates the joint angle correcting value from said load torque fluctuation component and the obtains the corrected joint angle command value in consideration of the load torque fluctuation component to output this command value to the part 10.
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