ROBOT CONTROL METHOD AND ROBOT CONTROL DEVICE

Stop and start detection block (63) determines whether or not a joint portion is in a stopped state before a rotation direction of the joint portion is inverted based on stop flag signal (Stop Flg). When it is determined that the joint portion is in the stopped state, filter processing block (65) ch...

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Bibliographische Detailangaben
Hauptverfasser:	UEDA, Hiroyoshi, HASHIMOTO, Atsumi, IWATANI, Masayoshi, YAMAMOTO, Ryosuke, NAKATA, Hiroyuki, HONUCHI, Yasuyoshi
Format:	Patent
Sprache:	eng ; fre ; ger
Schlagworte:	CHAMBERS PROVIDED WITH MANIPULATION DEVICES HAND TOOLS MANIPULATORS PERFORMING OPERATIONS PORTABLE POWER-DRIVEN TOOLS TRANSPORTING
Online-Zugang:	Volltext bestellen
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Beschreibung
Zusammenfassung:	Stop and start detection block (63) determines whether or not a joint portion is in a stopped state before a rotation direction of the joint portion is inverted based on stop flag signal (Stop Flg). When it is determined that the joint portion is in the stopped state, filter processing block (65) changes a frequency component of a correction amount for correcting backlash to a low frequency lower than a predetermined threshold value.