Articulated robot controller

Abstract

Abstract An articulated robot controller of the invention removes vibration from the robot arm by feedback compensation of the disturbance caused by interference torque when the robot arm is driven. The controller comprises operation means (8) which operates mutual interference torque value for each arm , condition observation means (2) for reproducing condition variables from the torque instruction of the servo-motor and the real speed thereof, conversion means (4) which converts the output of the condition observation means into a corrected value of torque caused by disturbance to the servo-motor, and correction means (9) which corrects a deviation signal of torque instruction in the servo motor relying upon the corrected value thus converted and the above interference torque value.

Inventors

• 👤 Keiji Sakamoto
• 👤 Osamu Fanuc Dai 3 Villa Karamatsu Yoshida

Bibliographic Details