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Backlash compensation control method, backlash compensation controller and backlash compensation control program
Backlash compensation control method, backlash compensation controller and backlash compensation control program
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机译:间隙补偿控制方法,间隙补偿控制器及间隙补偿控制程序
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摘要
To allow a robot performing a cyclic movement upon receipt of a driving force transmitted through a driving force transmission system from a driving source along with a backlash to perform the movement compensated for the backlash, during a first period within a cycle of the movement of the robot, a predetermined first movement control value is repeatedly cumulatively added with a correction value so as to be gradually biased to a predetermined second movement control value over the first period, and during a second period within that cycle, a correction value is repeatedly cumulatively subtracted from the second movement control value so as to gradually return to the first movement control value over the second period, thereby generating the movement control value for controlling the movement of the robot, and based on the movement control value thus generated, the movement of the robot is controlled.
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