Control method for robot apparatus, computer readable recording medium, and robot apparatus
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United States of America Patent
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Nov 14, 2017
Issued Date -
N/A
app pub date -
Jul 7, 2015
filing date -
Jul 9, 2014
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Abstract
Semi-closed control or fully closed control is selected as a control system for a joint using a motor configured to drive a joint of a robot arm via a reduction gear, an input-side encoder, and an output-side encoder, the semi-closed control being control in which an output of the input-side encoder is used, the fully closed control being control in which an output of the output-side encoder is used. A test run is performed plural times in which the robot arm is caused to perform a specific operation while semi-closed control is being performed on the joint, and semi-closed control or fully closed control is selected using outputs of the output-side encoder obtained in the test runs or in accordance with the content of a task that the robot arm is to be caused to perform.
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