This paper deals with a method to realize accurate trajectory control of a three-dimensional rectangular robot. Electronic servomechanism of robots generally has nonlinearities such that the rising time of its velocity is directly proportional to the amplitude of the input voltage. This becomes one of the causes of trajectory control errors in the starting or moving of the transition of the robot.
In the case where the velocity characteristics of the servomechanisms are equal to one another respectively, the offset error and moreover the transient error will be negligibly small. Therefore, we propose a new method of feeding back the difference in the velocity of each servomechanism. This theory is applied to a robot, and the validity of its theory is proven by the execution of experiments.