JPH04294990A - Control method for robot - Google Patents

Abstract

PURPOSE:To operate a robot arm at the optimum maximum angular acceleration interfaced with a detection weight by operating the maximum angle acceleration of the robot arm with the inertia at the load time being operated based on the inertia of no load time and the detection weight of a force sensing sensor. CONSTITUTION:The maximum angle acceleration at the no-load time when there is no object held by a hand 5 and the hand 5 is measured, and the inertia at no load time is operated from the measured maximum angle acceleration and the maximum torque of the motors 1, 2, 3 which drive a robot arm 12. And, the inertia at the load time is operated based on the detection mass of a force sensing sensor 4, the maximum angle acceleration of the robot arm 12 corresponding to the mass of the loading time is operated based on the inertia at the load time, and the arm axis of the robot arm 12 is controlled with its driving based on this maximum angle acceleration. Consequently, the whole work time can be shortened in the case of replacing various hands with the use of a tool changer.

Description

[Detailed description of the invention]

0001

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a robot control method for controlling the operation of a SCARA type robot, and more particularly to a robot control method for controlling work operations under load in accordance with the weight of the load.

0002

2. Description of the Related Art Conventionally, there are SCARA type robots of this type as shown in FIGS. 3 and 7, which are widely used in assembly work in factories and the like because they have a wide range of motion and are relatively inexpensive. The SCARA type robot shown in FIG. 3 is equipped with a force sensor 4 at the tip of the robot that detects urging forces in six axial directions. Based on the detection results of the force sensor 4, it is possible to prevent excessive force from being applied to the tip of the robot in the event of a collision. At the same time as detection, the robot's movements are stopped.

[0003] Furthermore, the SCARA type robot shown in FIG. 7 has a simple structure in which the force sensor is not provided. In each SCARA type robot, the inertia with respect to the motor axes 11, 21, 31 such as the 1st axis, 2nd axis, and Z axis changes depending on the weight of the hand 5 and the object 6 held by the hand 5, and the difference between the inertia and the angular acceleration changes. For, T=(d2 θ/dt2)・I

...(1) T: Maximum torque of the motor, (d2 θ/
dt2): maximum angular acceleration, I: inertia. In equation (1), the torques T of the motors 1, 2, and 3 are constant, and the inertia and angular acceleration have an inversely proportional relationship. On the other hand, in conventional robots, the maximum angular acceleration has generally been set to a value corresponding to the largest inertia for each axis. The reason for this is that if the instructed acceleration is greater than the robot's possible acceleration, the robot will not be able to follow the target value and will go down. As an example,
The angular acceleration is often set to the value when the total weight of the hand 5 and the object 6 is equal to the maximum payable weight.

0004

[Problem to be Solved by the Invention] Since the conventional control method for each SCARA type robot is configured as described above, it is compatible with a preset large inertia even when the weight is small and the inertia is smaller than the maximum value. The problem was that it had to be controlled with a small angular acceleration. Also, for the motor 1 with one axis, the angle θ of the two axes is
2, the value of inertia under load changes greatly,
In many cases, controllable angular acceleration was not specified.

On the other hand, in factory operations, there is a demand for shortening the assembly time of robots in order to reduce the manufacturing cost per product. In addition, the spatial movement motion of the robot tip consists of three periods: acceleration, constant speed, and deceleration.In short spatial movement often used in assembly work, acceleration and deceleration are the three categories. A large proportion of the time. Therefore, increasing the angular acceleration has the effect of shortening the working time, but it has the negative effect that the working time cannot be shortened unless the angular acceleration is constant and reaches a maximum value that matches the inertia.

The present invention has been made to solve the above-mentioned problems, and an object of the present invention is to propose a method of controlling a robot that can control the robot with an optimal angular acceleration for various weights under load.

[0007]

[Means for Solving the Problems] FIG. 1 shows a diagram illustrating the principle of the present invention. In the figure, the robot control method according to the present invention is a robot control method for controlling the operation of a SCARA type robot that includes a force sensor between the tip of the robot arm and the hand, and includes a no-load inertia calculation step of measuring the maximum angular acceleration when there is no target object and calculating the inertia during no-load from the measured maximum angular acceleration and the maximum torque of the motor that drives the robot arm; a load inertia calculation step of calculating the inertia under load based on the detected mass of the force sensor; and a maximum angle calculating the maximum angular acceleration of the robot arm corresponding to the mass under load based on the inertia under load. and an acceleration calculation step, and drives and controls the arm axis of the robot arm based on the maximum angular acceleration.

FIG. 2 shows another diagram illustrating the principle of the present invention. In the figure, another robot control method according to the present invention is a SCARA type robot equipped with a Z-axis arm provided at the tip of the robot arm, and a motor that operates the Z-axis arm in the Z-axis direction is controlled by proportional, integral, In the robot control method based on a differential control servo control system, the Z
Measure the maximum angular acceleration when there is no load on the hand provided at the tip of the axis arm and no object gripped by the hand, and calculate from the measured maximum angular acceleration and the maximum torque of the motor that drives the robot arm. a no-load inertia calculation step for calculating inertia under no-load;
a mass estimation step of moving the Z-axis arm to a target position using a servo control system of proportional/differential control, and estimating the mass of the object held by the hand from the positional deviation between the position after the movement and the target position; , a load inertia calculation step of calculating the inertia under load based on the estimated mass in the mass estimation step; and a maximum angular acceleration of the robot arm corresponding to the mass under load based on the inertia under load. and an angular acceleration calculation step, and drives and controls the arm axis of the robot arm based on the maximum angular acceleration.

[0009]

[Operation] In the present invention, the inertia under no load and the inertia under load are calculated based on the weight detected by the force sensor, and the maximum angular acceleration of the robot arm under load is calculated based on the inertia under load. As a result, the robot arm or Z-axis arm can be operated with the optimal maximum angular acceleration that matches the weight detected by the force sensor, thereby minimizing the spatial movement time of the robot. Particularly, when using a tool changer to replace various hands, or when the objects held by the hands have different weights, the overall working time is shortened.

Further, in another aspect of the present invention, the Z-axis arm is operated by proportional/differential control with the feedback constant of the integral control being zero, and based on the positional deviation between the current position and the target position, a The mass of the object gripped by the hand is estimated, the inertia under load is calculated based on this estimated mass, and the maximum angular acceleration suitable for various loads during load is calculated from the inertia under load. By controlling the drive of the arm axis of the robot arm based on this maximum angular acceleration, the spatial movement time of the robot can be shortened without providing an expensive force sensor. Furthermore, there is no need to provide a force sensor at the tip of the Z-axis arm, which simplifies the configuration of the SCARA robot, particularly the configuration of the Z-axis arm, and reduces the weight of the arm itself.

[0011]

Embodiments (a) First Embodiment of the Invention The method of controlling a robot according to this embodiment will be explained below by dividing it into one-axis, two-axis and Z-axis based on FIGS. 3 to 7. 3 is a schematic configuration diagram of a SCARA type robot to which the method of this embodiment is applied, and FIG. 4
is an explanatory diagram of inertia between the fulcrum and center of gravity of the robot arm,
FIG. 5 is an explanatory diagram of inertia of each robot arm.

In each of the above figures, the inertia seen from the 1st axis, 2nd axis, and Z axis is (a) inertia at the fulcrum/center of gravity of the robot arm, (b) angular acceleration adjustment of the 2nd axis, and (c) Z axis.
Axis Acceleration Adjustment (d) This will be divided into 1-axis angular acceleration adjustment. (a) Inertia at the fulcrum/center of gravity of the robot arm As shown in FIG. 4, the robot arm 12 (or 22)
The inertia I seen from a fulcrum A supported by one shaft 11 (or two shafts 21) is expressed by the following equation, where B is the center of gravity of the object.

[0013] I=I1 +R2 ・M

...(2) Here, I1 is the inertia around the center of gravity B, R is the distance between the fulcrum A and the center of gravity B, and M is the mass. (b) Adjustment of angular acceleration of two axes Based on equation (2) above, when the motor 2 of the two axes 21 is provided with a decelerator (not shown), the motor 2 of the two axes 21
The inertia I2 seen from is I2 = I'2 + (1/D2 )2 {(R
2 )2 ・M2 + (R3 )2
・(M3 +MS +ML)+A'2 +(A'
3 +A'S +A'L)}


...(3). Here, I'2 is the inertia of the two motor shafts, A'2 is the inertia around the center of gravity of the two axes, A'3 is the inertia around the center of gravity of the Z axis, and A'S
is the inertia around the center of gravity of the force sensor 4, A'L is the inertia around the center of gravity of the hand 5 and the object 6, and D2 is 2
The reduction ratio of the shaft, M2 is the mass of the two shafts 21, M3 is the Z-axis 3
1, MS is the mass of the force sensor 4, ML is the mass of the hand 5 and the object 6, R2 is the distance from the motor axis of the 2-axis 21 to the center of gravity of the 2-axis 21, and R3 is the motor of the 2-axis 21. This is the distance from the axis to the center of gravity of the Z-axis 31.

In equation (3), the terms that change when the shape of the robot is constant are A'L and ML.
When the change in A'L can be ignored with respect to the value of L), only ML affects the inertia. This ML can be measured by the force sensor 4 at the tip of the robot. A procedure in which the controller 9 (see FIG. 6) determines the maximum angular acceleration in accordance with the load inertia during loading using the above relationship will be explained based on the principle explanatory diagram of FIG. 1.

First, a state in which there is no hand 5 and no gripped object 6 (M
L = 0) and measure the maximum angular acceleration of that axis (step 11). The inertia at no load is determined from the value obtained in step 11 and the maximum torque of the motor specified by the rating (step 12). In the above equation (3), AL ′=0
Assuming that, the total weight MS of the hand 5 and the gripped object 6 is measured by the force sensor 4 with the robot hand 5 gripping the gripped object 6, which is the attachment target (step 13),
The inertia under load is determined by substituting the value of inertia under no load in step 12 into equation (3) (step 14). The maximum angular acceleration under load is determined from this value of inertia under load (step 15),
The value is instructed to the control circuit 10 (see FIG. 6).

(c) Z-axis acceleration adjustment Since the Z-axis 31 performs linear motion and uses a ball screw, the equivalent inertia seen from the Z-axis motor 3 is I
Z = I'Z + (M4 +MS +ML)・(P/
2π)2...(4)I'z :Z
It is determined by the inertia of the motor shaft of the shaft 31, M4: the mass of the tip of the ball screw of the Z-axis 31, and P: the pitch of the ball screw. As in the case of two axes, the value of ML can be measured by the force sensor 4, and only ML has an effect on the inertia. The procedure is the same as the two-axis angular acceleration adjustment described above, only the acceleration is instructed for linear motion. Also, linear angular acceleration (d2 θ/dt2) and motor angular acceleration (d
2 x/dt2 ) is (d2 x/dt2 )=(P/2π)(d2
θ/dt2 ) (5).

(d) Single-axis angular acceleration adjustment Single-axis motor 1
The inertia I1 seen from one axis when a decelerator (not shown) is provided in the motor will be explained with reference to FIG. The inertia I1 seen from this single-axis motor 1 is I1 = I'1 + (1/D1)2 {(R
1)2 ・M1 +(R4)
2 ・M2 +(R5)2 ・(M3 +MS +M
L) +A'1 +A'2 +(
A'3 +A'S +A'L)}...
(6). Here, I'1 is the inertia of the motor 1 on the 1st axis, D1 is the reduction ratio of the 1st axis 11, and M1 is the 1st axis 1
1 mass, R1 is the distance from the motor axis of the 1st axis 11 to the center of gravity, R4 is the distance from the 1st axis motor 1 to the 2nd axis' center of gravity, R5 is the distance from the 1st axis motor 1 to the 3rd and 4th axes' centers of gravity. The distance A′1 is the inertia around the center of gravity of one axis 11.

The above formula (6) is expressed as {(R1)2 ・M1
+A'1) is the inertia of the 1st axis 11 seen from the 1st axis 11, {(R4)2 ・M2 +A'2} is the inertia of the 1st axis 11
The inertia of the two axes 21 seen from {(R5)2 ・(
M3 +MS +ML )+(A'3 +A'S +A
'L)} is the inertia of the Z axis (three axes) 31 seen from the first axis 11, and the sum of these inertias becomes the overall inertia seen from the first axis 11.

[0019] If the length of the single axis 11 is L1, and the angle that the two-axis robot arm 22 makes with respect to the single-axis robot arm 12 is θ2, then R4 = {(L1)2 + (R2)2 -
2cos (π-θ2)・L1・R2} 0.5


…(7) R5
= {(L1)2 +(R3)2 −2cos (π
-θ2)・L1・R3} 0.5


...(8). These R4 and R5 change only by the angle θ2. In equation (6) above, A' is similar to the two-axis angular acceleration adjustment.
Assuming that the change in L can be ignored, the inertia can be calculated from ML and θ2 measured by the force sensor 4. By using this result and equation (1), the maximum acceleration can be determined. The procedure is the same as the two-axis angular acceleration adjustment described in (b) above.

Next, the concrete operation of the method of this embodiment will be explained with reference to FIG. First, the output of the force sensor 4 that detects in six axial directions is input to the controller 9 via the sensor processing circuit 7 and the AD converter 8. The mass ML, which is the value in the two-axis directions of the force sensor 4, is calculated from the mass FZO, which is the value when there is no load, and the mass FZL, which is the value when a predetermined load is attached. ML = FZL - FZO

...Calculate ML using (9). Next, by actually operating the two axes 21, the maximum angular acceleration θ2MAX at no load is measured, and the motor 2
The maximum torque is read from the rating table in No. 1, and the inertia I20 at no-load is calculated using the equation (1) above.

I20=T2MAX/θ2MAX

...(10) The inertia I2 when the mass ML is loaded is I2 = I20 + ML ・(L2
)2
...(11) Here, L2 is 2 axes 21
is the distance from the center of the motor shaft to the center of gravity of the load. From this, the maximum value of angular acceleration when the mass ML is loaded is I2 ・θ2 = I20・θZMAX

...(12). By instructing the control device to use this value as the maximum angular acceleration, it is possible to realize the maximum angular acceleration according to the load. The Z-axis 31 can also be realized by similar means.

[0022] In addition, in the case of one axis 11, θ2 = without load
Inertia I100 at 0 and θ2 = 9 with no load
It is determined by substituting the values at 0° into the equation (6). The difference between the obtained inertias (I100 - I1090
) is I100 −I1090=(L1 ・R
2 ・M2 )+{L1 ・R3 ・(M3 +MS
)}

...(13), and there are four unknowns: R2, R3, M2, and M3+MS. Therefore, similarly to the two-shaft 21, the maximum angular velocity under no load is measured at five points while changing θ2, and the inertia is calculated from the maximum torque (rating table) to find five inertias corresponding to θ2. Four differences are determined from these values, and the values of R2, R3, M2, and M3 +MS are determined from them. The remaining inertia that does not change is also calculated from that value. Through such calculation, the value of inertia corresponding to the angle θ2 is determined, and the maximum angular velocity is calculated. For changes in load, the same method as for two axes is used.

(b) Other Embodiments of the Invention In the above embodiments, the structure is provided with a plurality of robot arms that connect and operate on a plurality of axes. It is also possible to perform work with maximum angular acceleration. Further, in the above embodiment, the Z-axis arm is provided at the tip of the plurality of robot arms, but the robot arm is configured to have a hand directly at the tip via a force sensor without providing the Z-axis arm. You can also do that.

(c) Another Embodiment of the Present Invention A robot control method according to this embodiment will be explained with reference to FIGS. 7 to 9. FIG. 7 is a schematic configuration diagram of a SCARA type robot to which this embodiment method is applied, and FIG. 8 is a P
Block configuration diagram of ID (proportional/integral/derivative) control, Figure 9
shows an operation flowchart of the method of this embodiment.

[0025] In each of the above figures, the method of this embodiment is similar to the embodiments shown in Figs. The method of measuring the mass ML applied to the Z-axis is different. That is, the mass ML is estimated based on the positional deviation between the target position and the current position of the Z-axis 31 operated by the servo control system. Generally, the control system of a SCARA type robot is configured by PID control based on positional deviation (see FIG. 8). Furthermore, since the operating direction of the Z-axis 31 coincides with the gravity, a constant current is passed through the motor 3 to compensate for the gravity. In such a PID control system,
The servo system of the Z-axis 31 is temporarily controlled by PD, and the constant current for compensating for gravity is set to "0". In this way, the positional deviation Δ when the Z-axis 31 is statically fixed is not influenced by D (differential) control because the speed is "0", and only P (proportional) feedback is involved. Since the feedback gain is normally constant, the weight of the load (total mass of the hand and the object held by the hand) applied to the Z-axis 31 is M with the proportionality constant being KP.
If L, ML = Δ×KP

...(14) exists, and the load weight W and the positional deviation Δ are in a proportional relationship.

Using this proportional relationship, the mass ML of the tip can be estimated from the positional deviation Δ. and mass ML
After estimating the mass ML, a constant current is applied to the motor 3 to compensate for this mass ML, and the control system is returned to PID control. Note that when there is a current that compensates for the mass ML and feedback of I (integral) control, the positional deviation Δ during static stability and the load weight are not proportional. By substituting the estimated mass ML into equations (3), (4), and (6), two-axis angular acceleration adjustment and Z-axis acceleration are performed in the same manner as in the embodiments shown in FIGS. 3 to 7. Adjustment, uniaxial angular acceleration adjustment will be calculated.

Next, the operation of the above embodiment will be explained with reference to FIG. First, the hand 5 provided at the tip of the Z-axis 31
By closing (closing) the gripping object 6, which is an object such as a component, is detected (step 200). P
Among the servo systems for the Z-axis 31 in the ID control system, the feedback constant of the I (integral) control is set to "0" to form a PD control system (step 201). By using this PD control system, the current I for mass correction is set to "0" (step 20
2) At this time, with the tip of the Z-axis 31 stationary, the positional deviation Δ between the stationary current position and the target position is read out (step 203). From this positional deviation Δ, the load mass ML
is estimated based on the above equation (14) (step 20
4).

With the mass correction current I set to "0", the load at the tip of the Z-axis 31 is varied to adjust the mass ML and the Z-axis 3.
The proportionality constant Ki is determined from the relationship with the positional deviation Δ of 1. Moreover, between the mass ML and the mass correction current I,
ML=Ki・I

...(15), and based on this relationship, the mass correction current I is measured so that the positional variation Δ becomes "0" when the load is varied, and the proportionality constant Ki is determined. In this way, the mass correction current I is calculated from the mass ML based on the equation (15) (step 205). This mass correction current I is output to the motor 3 of the Z-axis 31 to bring the positional deviation Δ close to "0" (step 206).

Here, in the same manner as described in FIGS. 3 to 7, the maximum angular acceleration θ2MAX of the two axes 21 under no load is measured, and the maximum torque T2MAX is read from the rating table of the motor 2. Inertia I20 under no load is calculated based on equation (10). Next, the feedback gain of the I (integral) control in the PID control system of the Z-axis 31 is returned to its original value (step 207). The inertia I2 when the mass ML estimated in step 204 is loaded is I2 = I20+ML (L2)2

...(16) (step 208)
. Here, L2 is the distance from the center of the motor shaft of the two shafts 21 to the center of gravity of the load. From this, the maximum value θ2MAX of the angular acceleration when the mass ML is loaded is determined by the following equation (step 209).

I2・θ2=I20・θ2MAX

(17) By instructing the controller to use this value as the maximum angular acceleration, it is possible to realize the maximum angular acceleration according to the load. The Z axis can also be realized by similar means. In addition, in the case of a single axis, the inertia I100 when θ2 = 0 with no load, and the inertia I100 when θ2 = 90° with no load
Even when the difference in inertia I1090 at the time of 1090 has a relationship such as the above equation (12), the maximum angular velocity is calculated in the same manner as in the embodiments shown in FIGS. 3 to 7.

In this embodiment, two robot arms are used, but even in the case of two or more robot arms or a single robot arm, any configuration can be used as long as the robot arm has a Z-axis arm at the tip. It can also be applied to

[0032]

As described above, in the present invention, the inertia under no load and the inertia under load are calculated based on the weight detected by the force sensor, and the inertia under load is calculated based on the inertia under load. By calculating the maximum angular acceleration, the robot arm or Z-axis arm can be operated with the optimal maximum angular acceleration that matches the weight detected by the force sensor, thereby minimizing the spatial movement time of the robot. Particularly, when changing various hands using a tool changer, or when the objects held by the hands have different weights, this has the effect of shortening the overall working time.

Further, in another aspect of the present invention, the Z-axis arm is operated by proportional/differential control with the feedback constant of the integral control set to zero, and the positional deviation between the current position and the target position is determined based on the positional deviation between the current position and the target position. The mass of the object gripped by the hand is estimated, the inertia at the time of load is calculated on this estimated mass, and the maximum angular acceleration suitable for various loads at the time of load is calculated from the inertia at the time of load. By controlling the drive of the arm axis of the robot arm based on this maximum angular acceleration, the spatial movement time of the robot can be shortened without providing an expensive force sensor. Also, Z
There is no need to provide a force sensor at the tip of the axis arm, which has the effect of simplifying the configuration of the SCARA type robot, especially the configuration of the Z-axis arm, and reducing the weight of the arm itself.

[Brief explanation of the drawing]

FIG. 1 is a diagram explaining the principle of the present invention.

FIG. 2 is a diagram illustrating another principle of the present invention.

FIG. 3 is a schematic configuration diagram of a SCARA type robot applied to one embodiment of the invention shown in FIG. 1;

FIG. 4 is an explanatory diagram of inertia between the fulcrum and the center of gravity of the robot arm of the embodiment shown in FIG. 3;

5 is an explanatory diagram of inertia of each robot arm in the embodiment shown in FIG. 3; FIG.

FIG. 6 is a concrete block diagram to which the embodiment shown in FIG. 3 is applied.

7 is a schematic configuration diagram of a SCARA type robot applied to one embodiment of the invention shown in FIG. 2. FIG.

FIG. 8 is a block diagram of a PID control system in the embodiment shown in FIG. 7;

FIG. 9 is an operation flowchart in the embodiment shown in FIG. 7;

[Explanation of symbols]

1...1-axis motor 2...2-axis motor 3...Z-axis motor 4...Force sensor 5...Hand 6...Gripped object 7...Sensor processing circuit 8...AD converter 9...Control controller 10...Control circuit 11...1 axis 12...1 axis arm 21...2 axes 22...2-axis arm 31...Z axis 32...Z-axis arm

Claims (5)

[Claims] 1. A robot control method for controlling the operation of a SCARA type robot having a force sensor between a tip of a robot arm and a hand, wherein the hand and the object gripped by the hand are not loaded. a no-load inertia calculation step of measuring the maximum angular acceleration at and calculating the inertia at no-load from the measured maximum angular acceleration and the maximum torque of the motor driving the robot arm; a load inertia calculation step of calculating inertia under load based on the inertia under no load and the mass detected by the force sensor; and the maximum angular acceleration of the robot arm corresponding to the mass under load based on the inertia under load. a maximum angular acceleration calculation step of calculating a maximum angular acceleration, and driving and controlling an arm axis of a robot arm based on the maximum angular acceleration. 2. The robot control method according to claim 1, wherein the no-load inertia calculation step and the loaded inertia calculation step calculate each equivalent inertia during no-load and under-load in the Z-axis motion of the robot arm. ,
A method for controlling a robot, comprising calculating a maximum acceleration under load in a maximum angular acceleration calculation step based on inertia under load. 3. The method of controlling a robot according to claim 1, wherein the inertia of the motor for each of a plurality of axes that connect and support a plurality of robot arms is determined by the step of calculating the no-load inertia and the step of calculating the load inertia. , and the maximum angular acceleration of the robot arm is calculated in a maximum angular acceleration calculation step based on each inertia. [Claim 4] Z provided at the tip of the robot arm
In a SCARA type robot equipped with an axis arm, in a robot control method in which a motor for operating the Z-axis arm in the Z-axis direction is controlled based on a servo control system of proportional, integral, and differential control, Measure the maximum angular acceleration under no load when there is no hand provided and no object gripped by the hand, and calculate the maximum angular acceleration under no load from the measured maximum angular acceleration and the maximum torque of the motor that drives the robot arm. A no-load inertia calculation step for calculating inertia, and a step in which the Z-axis arm is moved to a target position using a proportional/derivative control servo control system, and a position deviation between the position after the movement and the target position is determined based on the positional deviation between the position after the movement and the target position. a mass estimation step of estimating the mass of the object; a load inertia calculation step of calculating the inertia under load based on the inertia at no load in the no-load inertia calculation step and the estimated mass in the mass estimation step; and a maximum angular acceleration calculation step of calculating the maximum angular acceleration of the robot arm corresponding to the mass under load based on the inertia of the robot arm, and the arm axis of the robot arm is drive-controlled based on the maximum angular acceleration. robot control method. 5. The robot control method according to claim 4, wherein each inertia for each motor in a plurality of axes that respectively connect and support a plurality of robot arms is determined by:
A robot control method characterized in that the no-load inertia calculation step and the loaded inertia calculation step each calculate the maximum angular acceleration of the robot arm based on each inertia in the maximum angular acceleration calculation step.