초록 ▼

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

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.

대표청구항 ▼

The invention claimed is: 1. A backlash compensation control method of allowing a robot performing a cyclic movement upon receipt of a driving force transmitted through a driving force transmission system which transmits a driving force from a driving source along with a backlash to perform the mov

The invention claimed is: 1. A backlash compensation control method of allowing a robot performing a cyclic movement upon receipt of a driving force transmitted through a driving force transmission system which transmits a driving force from a driving source along with a backlash to perform the movement compensated for the backlash, comprising: a first step of generating a movement control value which controls the movement of the robot, said first step includes: repeatedly cumulatively adding a first predetermined correction value to a predetermined first movement control value during a predetermined first period when a fault movement caused by the backlash within a cycle of the movement of the robot is possible to occur, so as to be gradually biased to a predetermined second movement control value over the first period, and repeatedly cumulatively subtracting a predetermined second correction value from the second movement control value during a predetermined second period when a fault movement caused by the backlash within that cycle is possible to occur, so as to gradually return to the predetermined first movement control value over the second period; and a second step of controlling the movement of the robot based on the movement control value thus generated. 2. The backlash compensation control method according to claim 1, wherein the first movement control value and second movement control value are movement control values which change with the time. 3. The backlash compensation method according to claim 1, wherein the first period and second period are periods having substantially the same time width, and the first correction values and second correction value are substantially the same correction values. 4. The backlash compensation control method according to claim 1, comprising: a third step, in which a same algorism as the movement control value generating algorism in the first step is used, and at the same time, by using each of plural mutually different correction values as the correction values corresponding to the first correction value in the first step, a moving test of the robot is performed, thereby finding a corresponding relation between the correction value and a degree of the compensation of the backlash, and a fourth step of finding the correction value by which the compensation of the backlash is adequately performed based the corresponding relation, whilst, in the first step, the correction value found in the fourth step is adapted as the first correction value. 5. A backlash compensation controller allowing a robot performing a cyclic movement upon receipt of a driving force transmitted through a driving force transmission system which transmits a driving force from a driving source along with a backlash to perform the movement compensated for the backlash, comprising: a movement control value generating section to generate a movement control value which controls the movement of the robot, in which, during a predetermined first period when a fault movement caused by the backlash within a cycle of the movement of the robot is possible to occur, a predetermined first movement control value is repeatedly cumulatively added with a first predetermined correction value so as to be gradually biased to a predetermined second movement control value over the first period, and at the same time, during a predetermined second period when a fault movement caused by the backlash within that cycle is possible to occur, a predetermined second correction value is repeatedly cumulatively subtracted from the second movement control value so as to gradually return to the predetermined first movement control value over the second period; and a movement control section which controls the movement of the robot based on the movement control value generated by the movement control value generating section. 6. A backlash compensation control program storage medium storing a backlash compensation control program that is executed within a computer which executes a program, the computer allowing a robot performing a cyclic movement upon receipt of a driving force transmitted through a driving force transmission system which transmits a driving force from a driving source along with a backlash to perform the movement compensated for the backlash, the backlash compensation control program allowing the computer to operate as a backlash compensation controller, comprising: a movement control value generating section which generates a movement control value to control a movement of the robot, in which, during a predetermined first period when a fault movement caused by the backlash within a cycle of the movement of the robot is possible to occur, a predetermined first movement control value is repeatedly cumulatively added with a first predetermined correction value so as to be gradually biased to a predetermined second movement control value over the first period, and at the same time, during a predetermined second period when a fault movement caused by the backlash within that cycle is possible to occur, a predetermined second correction value is repeatedly cumulatively subtracted from the second movement control value so as to gradually return to the predetermined first movement control value over the second period; and a movement control section which controls the movement of the robot based on the movement control value generated by the movement control value generating section.