Industrial robot dynamic characteristics improvement method uses calculated acceleration values for individual robot arm sections for controlling their respective drives for suppression of detected oscillation

摘要

The dynamic characteristics improvement method uses acceleration sensors (21) for measuring the acceleration at given points along a robot arm with a number of independently driven arm sections (10,11), with calculation of the values for the individual arm sections, used for individual control of the drive motors for suppression of oscillation. Also included are Independent claims for the following: (a) a dynamic characteristics improvement device; and (b) a robot tool positioning method