ROBOT CONTROL APPARATUS FOR COMPENSATING FOR ELASTIC DEFORMATION OF SUPPORT BODY
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United States of America Patent
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Issued Date -
Feb 2, 2017
app pub date -
Jul 22, 2016
filing date -
Jul 27, 2015
priority date (Note) -
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Abstract
A robot control apparatus controls a motor for driving a robot fixedly installed on a support body. The robot control apparatus is provided with a deflection estimating unit for estimating, when the robot is assumed to reach a target position and posture, a deflection arising in the support body due to the influence of gravity acting on the robot, a movement amount calculating unit for calculating the amount of movement of the motor which causes the robot to reach the target position and posture, based on the deflection of the support body, which is estimated by the deflection estimating unit, and a drive unit for driving the motor based on the amount of movement calculated by the movement amount calculating unit.
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