| 摘要 |
PURPOSE:To prevent a tool from being removed from a work at the relax control of a robot by providing an unbalance provision means giving a slight unbalance to a compensation command from a weight balance compensation circuit. CONSTITUTION:The weight unbalance compensation circuit 50 is provided with unbalance provision means 57, 58. A CPU 51 of the compensation circuit 50 calculates compensation commands CSa, CSb to generate an axial torque corresponding to a momentum exerting a vertical joint shaft due to the dead weight of each moving part of the robot. The commands CSa, CSb are given respectively to the provision means 57, 58 to obtain compensation commands CS1, CS2 provided with an unbalance. The commands CS1, CS2 control a drive current of a motor driving the vertical joint axis. Since a slight pressing force is generated in the operating direction of gravity or reverse direction at the relaxing control in this way, the tool is not removed from the work.
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