Patent ID: 6472839
Filing Date: 2002-10-29
Classification: B25J,B62D,G05B

Abstract:
A robot comprising:control means for sequentially outputting control objects for actuators; control-value correcting means for outputting, based on a result of driving each actuator, a correction value for each control object; and driving means for generating a control value by correcting each control object based on the correction value and for driving each actuator based on the control value; wherein said driving means includes: an actuator-driving system for driving each actuator in accordance with the control value; and a model-driving system for driving a model of each actuator in accordance with the control value; and wherein said driving means corrects the control value, which is to be input to said actuator-driving system and/or said model-driving system so that a response from each actuator and a response from the model coincide with each other, detects at least the moment of inertia of each actuator from a result of the correction, and outputs the value as a result of the driving.