Position control method of robot with high accuracy

Abstract

Abstract PURPOSE:To attain positioning of high accuracy, by obtaining the dynamic characteristic of a robot from a transfer function of the robot driving system at each correcting section selected on a norm orbit and decreasing the deviation between a response signal caused by the dynamic characteristic and an objective signal. CONSTITUTION:The objective signal g(t) is inputted to the robot at the correcting period Pi(i=1,2...N) on the norm orbit and the response signal mO(t) is measured and stored in this case. A command signal Cj(t) with the objective signal g(t) superimposed with an external disturbance signal thereon is inputted to the robot, the response signal mj(t) is measured in this case and a transfer function Hj(t) of the robot drive system to the external disturbance signal is calculated. Then, an error signal Dj(f) on the frequency axis is obtained from the deviation between the objective signal g(t) and its response signal mO(t). A correcting signal Aj(f) is obtained from Equation I with the correcting signal Aj(f) drawn so as to cancel the error signal Dj(f) and a function aj(t) on the time axis is obtained with the inverse Fourier transformation. Further, a new command signal Cj+1(t) is obtained from Equation II to drive the robot.

Inventors

• 👤 Takeshi Fujikawa
• 👤 猛 藤川
• 👤 Yoshio Inoue
• 👤 喜雄 井上
• 👤 Teruo Masuda
• 👤 増田　輝男
• 👤 Atsuhiko Noda
• 👤 野田　敦彦
• 👤 Takashi Sato
• 👤 隆 佐藤

Bibliographic Details