JP2006215807A - Robot control device and control method - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a robot control device that can reduce shocks and vibrations and realize movements matching purposes of, for example, preventing a cycle time increase, preventing an accuracy reduction in a rectangular coordinate system and keeping a command speed. <P>SOLUTION: The robot control device, which generates a rectangular coordinate system motion command from a work command and generates a torque command to an electric motor, comprises a simulation computation part for performing a control simulation, a state quantity evaluation part for evaluating internal state quantities computed by the simulation computation part, and a parameter adjustment part for adjusting parameters for motion command generation, such as speed and acceleration/deceleration time, according to the results evaluated by the state quantity evaluation part. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention relates to a robot control apparatus and control method, and more particularly to a motion command generation portion.

The conventional robot controller teaches several points when the robot performs work such as workpiece transfer and welding, specifies the interpolation method up to the taught point, and instructs the robot to each joint motor. It is made to work by generating. For example, as shown in FIG. 10, a work command composed of point data and a robot language is read and sequentially executed. The robot language described in the work command is analyzed by the work command analysis unit 111 and output as a movement command, a target value, or the like. An instruction storage unit 112 stores data output from the work command analysis unit 111. The interpolation calculation unit 113 generates a command at regular intervals while interpolating from the current position to the target position by an interpolation method specified by a movement command or target value stored in the command storage unit 112, such as a straight line or an arc. To go. The generated position command is converted into each joint angle command by the inverse kinematics calculation unit 114. Further, the servo control unit 115 generates a torque command to the motor in accordance with each joint angle command and motor angle response. In accordance with the torque command generated in this way, the motor of each joint axis is driven, the robot moves to the teaching position, and performs operations necessary for the work.
In order to generate a command that does not cause shock or vibration in such motion command generation, it has a virtual servo system, and the speed in the Cartesian coordinate system is set to the specified accuracy, joint speed, joint acceleration / deceleration Thus, acceleration / deceleration control is performed using a prescribed acceleration / deceleration pattern (see, for example, Patent Document 1).
In addition, the robot control device includes means for storing a plurality of movement data including movement speed and movement time as the movement amount, and controls the operation based on each of the stored movement data. Means for increasing the movement time under the condition that the movement amount is constant for the corresponding movement data and the movement data before and after the movement data, and the movement time when it is determined that the acceleration exceeds the predetermined acceleration. Means for storing movement data obtained by increasing the number of movements, and a configuration for controlling the robot using the movement data stored again. That is, when the acceleration / deceleration of the joint axis is large, the movement time is increased and the acceleration / deceleration is smoothed (see, for example, Patent Document 2).
JP-A-6-19528 (first page, FIG. 1) Japanese Patent Laying-Open No. 2003-1576 (page 1-2, FIG. 1)

In Patent Document 1, the speed in the Cartesian coordinate system is determined so that the specified accuracy, joint speed, and joint acceleration / deceleration are obtained, and the command speed decreases as the error, joint speed, and joint acceleration / deceleration increase. Therefore, there was a problem that the tact time of the work was increased.
In Patent Document 2, since the movement time is increased, there is a problem that the tact time of the work is increased. Further, since the acceleration / deceleration speed of the joint axis changes, there is a problem that the angle synchronization between the joint axes is lost and the accuracy in the orthogonal coordinate system is deteriorated.
Further, in Patent Document 1 and Patent Document 2, in a work command, a place where it is desired to shorten the movement time as much as possible, a place where the movement speed is desired to be maintained at a commanded speed, or a place where accuracy is to be maintained is partially or for each work command. There was also a problem that it was not possible to specify, and it was not possible to realize movement suitable for the application.
The present invention has been made in view of such problems, and is suitable for applications such as suppressing impact and vibration, not increasing the tact time, not reducing the accuracy in the Cartesian coordinate system, and protecting the command speed. It is an object of the present invention to provide a robot control device and a control method that can realize the desired movement.

  In order to solve the above problems, the present invention is configured as follows.

  According to the first aspect of the present invention, a work command analysis unit that analyzes a work command and outputs a movement command, a command storage unit that stores data output from the work command analysis unit, and a memory in the command storage unit An interpolation calculation unit for calculating a Cartesian coordinate system motion command for each predetermined period from the movement command, an inverse kinematics calculation unit for converting the Cartesian coordinate system motion command into each joint coordinate system motion command of the robot, A servo control unit that generates a torque command to an electric motor based on each joint coordinate system motion command and a motor angle response, and a simulation calculation unit that performs a control simulation and a calculation performed by the simulation calculation unit Parameters for generating motion commands for speed and acceleration / deceleration time based on the results evaluated by the state quantity evaluation unit and the state quantity evaluation unit. Is characterized in that it comprises a parameter adjuster for adjusting the over data, the.

  According to a second aspect of the present invention, in the first aspect, the evaluation state quantity in the state quantity evaluation unit and the movement in the parameter adjustment unit are determined according to the parameters indicating the priority of time, speed, and accuracy described in the work command. The parameter adjustment method for command generation is changed.

  According to a third aspect of the present invention, in the first aspect, when time is prioritized by the parameter described in the work command in the parameter adjusting unit, the acceleration / deceleration time is extended so that the moving time is not changed. If the speed is prioritized, the parameter is adjusted by extending the acceleration / deceleration time.If the accuracy is prioritized, the parameter is adjusted by decreasing the speed. It is what.

  According to a fourth aspect of the present invention, in the first to third aspects, the state quantity evaluation unit calculates the size of the internal state quantity calculated by the simulation calculation unit and the difference between the state quantity and its command value. The evaluation is performed by comparing with each preset threshold value.

  According to a fifth aspect of the present invention, in the first to third aspects, the state quantity evaluation unit is configured to calculate the size of the internal state quantity calculated by the simulation calculation unit, and the difference between the state quantity and the filter output value. Is evaluated by comparing each with a preset threshold value set in advance.

  A sixth aspect of the present invention is characterized in that, in the fifth aspect, the filter of the filter output value is a moving average.

  A seventh aspect of the invention is characterized in that, in the fifth aspect, the filter of the filter output value is a first-order lag filter.

  The invention according to claim 8 is the invention according to claims 5 to 7, wherein the filter output value reverses the time series of the time series data after being filtered once, and filters the reverse time series data again, The time-series data that has been filtered again is generated by reversing the time-series again.

  According to a ninth aspect of the present invention, in the first or second aspect, the state quantity of the machine is detected by a sensor attached to the robot, and the state quantity evaluation unit evaluates the state quantity based on the detected state quantity. It is what.

  A tenth aspect of the invention is characterized in that, in the first aspect, a work command generation unit is provided for converting the command stored in the command storage unit into a work command.

  The eleventh aspect of the invention is characterized in that, in the tenth aspect, the work command generation unit describes whether or not parameter adjustment by the parameter adjustment unit has been performed on the generated work command.

The invention according to claim 12 is a step of analyzing a work command described in a robot language by a work command analysis unit and outputting a command to the command storage unit;
In the command storage unit, storing the data output from the work command analysis unit in an internal memory;
In the simulation calculation unit composed of the mechanical model unit that performs the same calculation as the interpolation calculation unit, inverse kinematics calculation unit, and servo control unit, the torque command calculated by the servo control unit is transferred to the mechanical model unit. A step of feeding back a response from the mechanical model unit to the servo control unit and performing a control simulation;
In the state quantity evaluation unit, a step of comparing and evaluating the internal state quantity calculated by the simulation calculation unit with a preset threshold value;
When the internal state quantity is outside the allowable threshold, the step of returning to the step of adjusting the parameter and storing the data output from the work command analysis unit in the internal memory;
When the internal state quantity is within the allowable threshold, using the adjusted parameter, the interpolation calculation unit performs an interpolation calculation; and
Inverse kinematics calculation step in the inverse kinematics calculation unit;
The servo control unit includes a step of generating a torque command by servo control.

According to the first aspect of the present invention, it is possible to adjust the parameters such as speed and acceleration / deceleration time by performing a control simulation in advance and evaluating the internal state quantity. There is an effect that can be generated.
Further, according to the invention described in claims 2 and 3, the evaluation state quantity and the motion command parameter adjustment method are changed according to the parameters indicating the priority of time, speed, and accuracy described in the work command. There is an effect that a suitable movement can be realized.
Further, according to the invention described in claim 4, since the difference between the size of the internal state quantity and the command value of the state quantity is evaluated, it is possible to generate a command that does not cause an impact or vibration. There is.
According to the invention described in claims 5 to 7, in order to evaluate the difference between the internal state quantity and the state quantity filter output value, it is possible to generate a command that does not cause an impact or vibration. There is an effect that can be done.
In addition, according to the eighth aspect of the invention, since the filter output value of the state quantity can be made free from the phase delay, the accuracy of extracting the vibration component is improved and the evaluation of the state quantity is made more accurate. There is an effect that can be.
According to the ninth aspect of the invention, the state quantity can be evaluated by a sensor attached to the robot, and more accurate evaluation can be performed. Therefore, there is an effect that a more optimal command can be generated. .
According to the invention described in claim 10, since an instruction including the adjusted parameter can be saved as a work command, it can be reused immediately, and data can be transferred to other devices and used.
According to the eleventh aspect of the present invention, since it can be determined whether or not the command based on the work command has already been parameter-adjusted, there is an effect that the parameter can be immediately executed without having to adjust the parameter again.
Further, according to the invention described in claim 12, since it is possible to adjust parameters such as speed and acceleration / deceleration time by conducting a control simulation in advance and evaluating the internal state quantity, There is an effect that a motion command can be generated.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings.

  The robot control apparatus of this embodiment performs control based on a computer such as a microprocessor. FIG. 1 is a configuration diagram of a first embodiment of the robot control apparatus of the present invention. In FIG. 1, a work command analysis unit 11 analyzes a work command described in a robot language and outputs a movement command, a target value, and the like for each line. The command storage unit 12 stores the data output from the work command analysis unit 11 in an internal memory. The interpolation calculation unit 13 calculates a Cartesian coordinate system motion command for each fixed period while interpolating from the current position to the target position by an interpolation method specified from the data stored in the command storage unit 12 such as a straight line or an arc. The inverse kinematics calculation unit 14 converts the orthogonal coordinate system motion command into each joint coordinate system motion command of the robot. The servo control unit 15 generates a torque command to the electric motor based on each joint coordinate system motion command and the motor angle response. The torque command generated by the servo control unit 15 is sent to an amplifier for driving the motor, and the amplifier drives the motor according to the torque command.

  As shown in FIG. 2, the simulation calculation unit 16 includes a part that performs the same calculation as the interpolation calculation unit 13, the inverse kinematic calculation unit 14, and the servo control unit 15, and a mechanical model unit 19 that models a robot mechanism. The A torque command calculated by the servo control unit 15 is sent to the mechanical model unit 19 and a response from the mechanical model unit 19 is fed back to the servo control unit 15 to perform a simulation.

  FIG. 3 shows an example in which the mechanism of the robot is approximated by a two-inertia system in the mechanical model unit 19. The motor angle response is fed back to the servo control unit 15 in the simulation calculation unit. Here, Jm is the motor inertia moment, Dm is the motor viscosity coefficient, N is the reduction ratio, Kc is the reduction gear spring constant, Dc is the reduction gear viscosity coefficient, Jl is the load side inertia moment, and Dl is the load side. Is the viscosity coefficient. In this example, the mechanical model unit 19 is a model of the robot mechanism as a two-inertia mechanism. However, if there is a belt drive or the like, the model is modeled as a three-inertia mechanism in detail. decide. The state quantity evaluation unit 17 evaluates an internal state quantity such as a torque command calculated by the simulation calculation unit 16. The parameter adjustment unit 18 adjusts parameters for generating a motion command such as speed and acceleration / deceleration time based on the result evaluated by the state quantity evaluation unit 17, and outputs the result to the command storage unit 12. save. After parameter adjustment, using the adjusted parameters, the interpolation calculation unit 13, inverse kinematics calculation unit 14, and servo control unit 15 are executed to operate the robot.

Next, the procedure for carrying out the present invention will be described with reference to the flowchart of FIG.
The work command analysis unit 11 analyzes the work command described in the robot language and outputs a movement command, a target value, and the like. (Step 1)
The command storage unit 12 stores the data output from the work command analysis unit 11 in an internal memory. (Step 2)
The simulation calculation unit 16 performs a control simulation using a mechanical model. (Step 3)
The state quantity evaluation unit 17 evaluates the internal state quantity calculated by the simulation calculation unit 16.
If the motor torque command and the speed of the robot hand are set as the state quantities to be evaluated, the motor torque command is output from the simulation calculation unit 16, and the speed of the robot hand is calculated from the joint axis obtained by the simulation calculation unit 16. The speed or angle can be calculated using Jacobian or forward kinematics calculation.
Check whether the magnitude of the motor torque command is within the preset allowable value and whether the difference between the command value and the robot hand speed is within the set threshold, and any of the above conditions is not met In this case, a result indicating that parameter adjustment is necessary is output. If both conditions are satisfied, a result indicating that parameter adjustment is not necessary is output. In the above, an example is shown in which the evaluation is performed based on the magnitude of the motor torque command and the speed of the robot's hand, but instead of the magnitude of the motor torque command, the robot's joint torque and joint acceleration, instead of the robot's hand speed. You may evaluate by the position of the hand of a robot. (Step 4)
The parameter adjusting unit 18 adjusts parameters for generating a motion command for speed and acceleration / deceleration time when the state quantity evaluating unit 17 evaluates that the parameter needs to be adjusted.

  For example, when it is specified that the time is given priority over the work command, the acceleration / deceleration times ta and td are adjusted to be extended by predetermined times Δta and Δtd as shown in FIG. However, the speed Vα is determined so as to protect the movement amount S and the movement time Tall. Note that ta ′ and td ′ in FIG. 5 are acceleration / deceleration times after adjustment.

ta '= ta + Δta (1)
td '= td + Δtd (2)
Vα ′ is the speed after adjustment.
When the movement amount obtained from the work command is S0 and the command speed is Vref, the movement amount S and the movement time Tall are

S = S0 (3)
Tall = S0 / Vref (4)
If the acceleration / deceleration times ta and td are known, the speed Vα can be calculated using the movement amount S and the movement time Tall.
For example, if acceleration is a pattern like the following equation and deceleration is the same pattern, acceleration A and speed V are as follows.

A = {(Vα−V0) / ta} * {1-cos (2π * t / ta)} 0 ≦ t ≦ ta (5)
V = V0 + {(Vα-V0) / ta} * {t- (ta / 2π) * sin (2π * t / ta)} 0 ≦ t ≦ ta (6)
However, * represents a product and V0 is an initial speed.
If Sa and Sd are the amount of movement during acceleration and deceleration, and Ve is the final speed,

Sa = {(Vα + V0) * ta} / 2 (7)
Sd = {(Vα + Ve) * td} / 2 (8)
So

Vα = {S- (V0 * ta + Ve * td) / 2} / {Tall- (ta + td) / 2} (9)
It becomes. For Vα ′, Vα may be replaced with Vα ′ and td may be replaced with ta ′ and td ′.
The Vα ′, ta ′, and td ′ calculated in this way are output to the instruction storage unit 12. (Step 5)
Thereafter, (Step 2), (Step 3), and (Step 4) are executed, and the process is repeated until the parameter adjustment is not necessary.
After parameter adjustment, using the adjusted parameters, interpolation calculation unit 13 performs interpolation calculation (step 6), inverse kinematics calculation unit 14 performs inverse kinematics calculation (step 7), and servo control unit 15 performs servo control. Torque command generation by control (step 8) is executed to operate the robot.
In the above, the state quantity evaluation and parameter adjustment in the case where it is specified to prioritize time over the work command are shown. However, in the case where it is specified to prioritize speed over the work instruction, the state quantity evaluation unit 17 Thus, it is confirmed whether or not the operation can be performed at the speed commanded by the work command by evaluating whether the magnitude of the joint speed calculated by the simulation is within a preset allowable value. Also for parameter adjustment, the parameter adjusting unit 18 adjusts the acceleration / deceleration time so as to keep the speed Vref commanded by the work command. That is, the speed remains at Vref, and only the acceleration / deceleration time is adjusted as shown in equations (1) and (2).
Similarly, even when it is specified that the accuracy is given priority over the work command, the state quantity evaluation unit 17 evaluates whether the difference between the joint angle calculated by the simulation and the command value is within a set threshold value. Add Regarding parameter adjustment, the parameter adjustment unit 18 performs the following adjustment by reducing the speed by a predetermined speed ΔVα without changing the acceleration / deceleration time.

Vα ′ = Vα−ΔVα (10)
In this way, the evaluation of the state quantity and the parameter adjustment are changed according to the parameter indicating the priority specified in the work command, and a motion command suitable for the application is generated. In addition, since the parameter indicating the priority level can be specified for each line in the work command, it is partially necessary to shorten the travel time as much as possible, to maintain the travel speed at the commanded speed, or to maintain accuracy. Or it can set for every work command and can perform the optimal operation suitable for a use.

In the first embodiment, the state quantity evaluation unit 17 evaluated the difference between the speed of the robot's hand and its command value, and simulated the joint torque and joint speed of the robot as shown in FIG. An evaluation is performed by checking whether the difference between the simulation value and the filter output value is within a set threshold. The filter output value is obtained by calculating a moving average or a first-order lag filter.
Furthermore, in order to extract vibration with high accuracy, it is necessary to generate the filter output value so that there is no phase delay. A method for generating a filter output value when a first-order lag filter is used will be described below.
For example, when time series data τ [k] (k = 0, 1, 2,..., N−1) of joint torque is used, the filtered data τ1 [k] is expressed by the following equation.

τ1 [k] = (Ts · τ [k] + Tf · τ1 [k-1]) / (Ts + Tf) (k ≧ 1) (11)
However, Ts is a sampling period and Tf is a filter time constant.
Next, τ2 [k] obtained by reversing the time series of τ1 [k] is generated as follows.

τ2 [k] = τ1 [N-1-k] (12)
Apply a first-order lag filter to τ2 [k] again as shown in equation (11) and output to τ3 [k]. Again, reverse the time series to τ3 [k] as shown in equation (12) and output the filter. A value τ ′ [k] is generated. Since the output τ ′ [k] has no phase lag with respect to the input τ [k], the vibration component is extracted more accurately.

  In this way, by comparing and evaluating the simulation and its filter output value, it is possible to generate a more optimal motion command that does not cause impact or vibration.

FIG. 7 is a diagram showing the configuration of the third embodiment. The difference from the first embodiment or the second embodiment is that the information of the sensor 20 attached to the robot is input to the state quantity evaluation unit 17 for evaluation.
In the implementation procedure, first, the robot is actually operated, and information such as acceleration and displacement detected by the sensor 20 is input to the state quantity evaluation unit 17 to evaluate the magnitude of acceleration and displacement. Thereafter, when parameter adjustment is necessary, parameter adjustment is performed in the same manner as in the first or second embodiment, the robot is operated again, and the above procedure is repeated. When it is determined that there is no need for parameter adjustment, the adjustment is terminated, and the robot is operated using the adjusted parameter. Moreover, in the said state quantity evaluation part 17, you may evaluate in combination with the simulation value output from the simulation calculating part 16 other than sensor information.

  As described above, since the state quantity can be evaluated by the sensor attached to the robot and more accurate evaluation can be performed, a more optimal command can be generated.

FIG. 8 is a diagram showing the configuration of the fourth embodiment. The difference from the first embodiment or the second embodiment is that a work command generation unit 21 that converts a command stored in the command storage unit 12 and generates a work command is provided.
As shown in FIG. 9, the work command generation unit 21 collectively converts the data for each line stored in the command storage unit 12 as work command data, and stores the data as a file. This work command file can be input to the work command analysis unit and executed, or can be transferred to an external device to operate other robots with the same work command.
Further, the work command generation unit 21 describes a command indicating whether or not the work command parameter has been adjusted in the work command as shown in FIG. In FIG. 9, there is a command PTFIN on the second line, which indicates that the parameter has been adjusted, and parameter adjustment is not performed when this work command is executed.

In this way, since the command including the adjusted parameter can be saved as a work command, it can be reused immediately, and can be transferred to other devices for use.
Further, since it can be determined whether or not the command based on the work command has been adjusted, it is possible to execute immediately without having to adjust the parameter again.

  By performing control simulation in advance and adjusting parameters such as speed and acceleration / deceleration time, it is possible to generate a motion command in an optimal orthogonal coordinate system, and therefore, it can be applied to a numerical control device such as a machine tool.

The block diagram of the robot control apparatus which shows 1st Example of this invention. The block diagram of the simulation calculating part which shows 1st Example of this invention Block diagram of a mechanical model unit showing a first embodiment of the present invention. The flowchart which shows the implementation procedure of 1st Example of this invention. Explanatory drawing which shows the example of the parameter adjustment method in 1st Example of this invention. Explanatory drawing which shows the state quantity evaluation method in 2nd Example of this invention. The block diagram of the robot control apparatus which shows 3rd Example of this invention The block diagram of the robot control apparatus which shows 4th Example of this invention. Explanatory drawing which shows the work command production | generation in 4th Example of this invention. Configuration diagram of a conventional robot controller

Explanation of symbols

10, 110 Robot control device 11, 111 Work command analysis unit 12, 112 Command storage unit 13, 113 Interpolation calculation unit 14, 114 Inverse kinematics calculation unit 15, 115 Servo control unit 16 Simulation calculation unit 17 State quantity evaluation unit 18 Parameters Adjustment unit 19 Mechanical model unit 20 Sensor 21 Work command generation unit

Claims (12)

A work command analysis unit that analyzes a work command and outputs a movement command, a command storage unit that stores data output from the work command analysis unit, and a movement command stored in the command storage unit at regular intervals. An interpolation calculation unit for calculating a Cartesian coordinate system motion command, an inverse kinematics calculation unit for converting the Cartesian coordinate system motion command into each joint coordinate system motion command of the robot, each joint coordinate system motion command and motor angle In a robot control device comprising a servo control unit that generates a torque command to an electric motor based on a response,
A simulation calculation unit for performing a control simulation;
A state quantity evaluation unit for evaluating the internal state quantity calculated by the simulation calculation unit;
A robot control apparatus comprising: a parameter adjustment unit that adjusts parameters for generating a motion command for speed and acceleration / deceleration time based on the result of evaluation by the state quantity evaluation unit.   The parameter indicating the priority level of time, speed, and accuracy described in the work command is used to change the evaluation state quantity in the state quantity evaluation unit and the parameter adjustment method for generating the motion command in the parameter adjustment unit. The robot control apparatus according to claim 1, wherein   When time is prioritized by the parameter described in the work command in the parameter adjustment unit, the parameter is adjusted by increasing the acceleration / deceleration time and calculating the speed so as not to change the travel time. 3. The robot control apparatus according to claim 2, wherein the parameter is adjusted by extending the acceleration / deceleration time when the parameter is set, and the parameter is adjusted by decreasing the speed when accuracy is prioritized.   The state quantity evaluation unit is evaluated by comparing the size of the internal state quantity calculated by the simulation calculation unit and the difference between the state quantity and its command value with respective preset threshold values. The robot control device according to claim 1, wherein:   The state quantity evaluation unit compares the size of the internal state quantity calculated by the simulation calculation unit and the difference between the state quantity and the filter output value with each preset threshold value. 4. The robot control apparatus according to claim 1, wherein evaluation is performed.   6. The robot control apparatus according to claim 5, wherein the filter of the filter output value is a moving average.   6. The robot control apparatus according to claim 5, wherein the filter of the filter output value is a first-order lag filter.   The filter output value reverses the time series of the time series data after being filtered once, filters the time series data that has been reversed again, and re-filters the time series data that has been filtered again. 8. The robot control device according to claim 5, wherein the robot control device is generated by reversing.   The robot control apparatus according to claim 1, wherein a state quantity of the machine is detected by a sensor attached to the robot, and the state quantity evaluation unit evaluates based on the detected state quantity.   The robot control apparatus according to claim 1, further comprising a work command generation unit that converts a command stored in the command storage unit into a work command.   11. The robot control apparatus according to claim 10, wherein the work command generation unit describes whether or not parameter adjustment by the parameter adjustment unit is performed in the generated work command. Analyzing the work command described in the robot language in the work command analysis unit and outputting the command to the command storage unit;
In the command storage unit, storing the data output from the work command analysis unit in an internal memory;
In the simulation calculation unit composed of the mechanical model unit that performs the same calculation as the interpolation calculation unit, inverse kinematics calculation unit, and servo control unit, the torque command calculated by the servo control unit is transferred to the mechanical model unit. A step of feeding back a response from the mechanical model unit to the servo control unit and performing a control simulation;
In the state quantity evaluation unit, a step of comparing and evaluating the internal state quantity calculated by the simulation calculation unit with a preset threshold value;
When the internal state quantity is outside the allowable threshold, the step of returning to the step of adjusting the parameter and storing the data output from the work command analysis unit in the internal memory;
When the internal state quantity is within the allowable threshold, using the adjusted parameter, the interpolation calculation unit performs an interpolation calculation; and
Inverse kinematics calculation step in the inverse kinematics calculation unit;
A robot control method comprising a step of generating a torque command by servo control in a servo control unit.

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