Patent ID: 7363109

Claim:
A backlash compensation control method of allowing a robot performing a cyclic movement upon receipt of a driving force transmitted through a driving force transmission system which transmits a driving force from a driving source along with a backlash to perform the movement compensated for the backlash, comprising: a first step of generating a movement control value which controls the movement of the robot, said first step includes: repeatedly cumulatively adding a first predetermined correction value to a predetermined first movement control value during a predetermined first period when a fault movement caused by the backlash within a cycle of the movement of the robot is possible to occur, so as to be gradually biased to a predetermined second movement control value over the first period, and repeatedly cumulatively subtracting a predetermined second correction value from the second movement control value during a predetermined second period when a fault movement caused by the backlash within that cycle is possible to occur, so as to gradually return to the predetermined first movement control value over the second period; and a second step of controlling the movement of the robot based on the movement control value thus generated.