Patent ID: 6295484
Filing Date: 2001-09-25
Classification: B25J,G05B

Abstract:
A method of controlling, as an object to be controlled, a multiaxial robot with a mechanism having spring elements between electric motors of respective axes and robot arms, comprising the steps of:providing a pseudo-model of said object to be controlled and a feedback control system for said object to be controlled;calculating model motor position commands, model motor speed commands, and model feed-forward commands for the respective axes, using said pseudo-model, upon being supplied with position commands for the respective electric motors;determining interfering torques due to interference acting between the axes from the other axes, using said pseudo-model, and calculating model corrective torques to cancel said interfering torques;adding said model corrective torques to said model feed-forward commands to produce final model motor acceleration commands; andexecuting a feedback control process for said axes depending on said model motor position commands, said model motor speed commands, and said final model motor acceleration commands.