抄録
This method is for realizing accurate trajectory control of a horizontally jointed type robot. Generally, the dynamic characteristics of this type of robot are highly nonlinear and the electronic servomechanism has nonlinearities such that the rise times of these velocities are directly proportional to the amplitude of the input voltages. These become the causes of trajectory control errors when starting or moving the robot.
In the case where the velocity characteristics of the servomechanisms are equal to one another, the offset and transient errors will be negligibly small. Therefore, a new method of feeding back the difference between the robot servomechanism velocities is proposed. Moreover, to control a robot to move along a planned path, it has been necessary to compute the torque needed to drive all its joints accurately and a torque feed-forward method is used. This theory is applied to a robot, and the validity of its theory is proven by experiments.
