PURPOSE: To adjust a gain parameter according to the quantity of a robot fitting load.
CONSTITUTION: A feedback control unit which controls the position and speed of an articulated robot including a front arm shaft that is unsteady in fitting load and operates a robot arm vertically is provided with a gain adjusting means 32 which operates the front arm shaft at a low speed by a front arm shaft low-speed driving command generating means 25 and detects the (q) shaft current of the motor driving the front arm shaft during the operation and the angular position of the front arm shaft at the start of the operation by a front arm shaft (q) current detecting means 28 and a front arm shaft angular position detecting means 26, calculates the value of a load fitted to the tip of the robot from the detected (q) shaft current 29 and angular position 27 by a tip fitted load calculating means 30, and adjusts the gain parameter of the feedback control loop of each joint shaft from the calculated value of the fitted load 31.
KINOSHITA HISASHI
OOTO MASAHIRO
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