To provide a robot control device controlling a robot.
The robot control device includes a link 3 rotatable with respect to a base body 1, a motor 4 driving the link 3, a reducer 5 transmitting torque of the motor 4 to the link 3 with a speed reduction ratio N, an angle sensor 6 detecting the rotational angle θM1 of the motor 4, an angular velocity sensor 12 detecting angular velocity ωL1 of the link 3 with respect to the base body 1, and a calculating unit 15 calculating rotational angle of the link 3 using a high frequency component of a first frequency fH or higher out of the integral value of the angular velocity ωL1 and a low frequency component of a second frequency fL or lower out of θM1*N, the first frequency fH being different from the second frequency fL. Thus, the influence of bias drift of the angular speed sensor 12 can be eliminated, and a signal of an angle with specific frequency intensified or deleted can be obtained.
| JP2006038456A | 2006-02-09 | |||
| JP3883544B2 | 2007-02-21 | |||
| JP2004334772A | 2004-11-25 | |||
| JP2004171333A | 2004-06-17 | |||
| JP2006038456A | 2006-02-09 |
Osamu Suzawa
Kazuhiko Miyasaka