To solve a problem wherein, when detecting external force due to impact of a robot driven by a motor via a reduction gear without a sensor, there is a calculation error or an error in a compensation amount.
In impact torque calculation, impact torque detection accuracy improved by calculating kinetic friction torque of the reduction gear by increasing it in proportion to dynamic torque, and in feed-forward compensation amount calculation, optimum feed-forward compensation with little error can be acquired by calculating the kinetic friction torque of the reduction gear by increasing it in proportion to the dynamic torque. The control method having superior impact detection accuracy, and a feed-forward control method realizing superior dynamic characteristics compensation is provided.
MASUNAGA NAOTO
HASHIMOTO ATSUSANE
MUKAI YASUSHI
| JPS62140786A | 1987-06-24 | |||
| JP2001231280A | 2001-08-24 | |||
| JPH0866893A | 1996-03-12 | |||
| JP2003025272A | 2003-01-29 | |||
| JPH10249763A | 1998-09-22 |
Hiroki Naito
Daisuke Nagano