ANGULAR TRANSMISSION ERROR IDENTIFYING SYSTEM, ANGULAR TRANSMISSION ERROR IDENTIFYING METHOD, AND ROBOT SYSTEM

摘要

Provided is an angular transmission error identification system that identifies an angular transmission error of a speed reducer (13) of a robot arm (4) including a joint (7) that is rotationally driven by a motor (11) via the speed reducer (13), the angular transmission error identification system including an identification unit (46) that calculates an amplitude parameter and a phase parameter of an angular transmission error identification function, which is a periodic function that models an angular transmission error of the speed reducer (13) and has the amplitude parameter and the phase parameter, and identifies the angular transmission error using the angular transmission error identification function, in which the identification unit (46) calculates an amplitude parameter corresponding to a gravitational torque current value which is a gravitational torque value acting on a joint when the angular transmission error is identified using a first amplitude function or a second amplitude function according to a value of the gravitational torque current value, and calculates a phase parameter corresponding to the gravitational torque current value using a first phase function or a second phase function according to a value of the gravitational torque current value.