ROBOTABLE AID PROCEDURES AND ROBOTABLE AID

摘要

In an angular velocity calculation block 61, an angular velocity component dθc is calculated based on a position command θ1c for a joint portion J1. In a kinetic calculation block 60, a kinetic torque τdyn is calculated based on the position command θ1c for the joint portion J1. In a command velocity component reversal detection block 62, a reversal timing dir is calculated based on the angular velocity component dθc. In a reverse torque detection block 63, a reverse torque τdir is calculated based on the kinetic torque τdyn and the reversal timing dir. In a backlash correction amount calculation block 64, the correction amount θ1BL of the joint portion J1 is calculated based on the kinetic torque τdyn, the reverse torque τdir, and the reversal timing dir.