An angular transmission error identification system that identifies an angular transmission error of a speed reducer of a robot arm including a joint that is rotationally driven by a motor via the speed reducer, including an identification unit that calculates amplitude and phase parameters of an angular transmission error identification function, which is a periodic function that models an angular transmission error of the speed reducer and has the parameters, and identifies the error using the function, wherein the unit calculates an amplitude parameter corresponding to a gravitational torque current value which is a value acting on a joint when the error is identified using a first or second amplitude function according to a value of the gravitational torque current value, and calculates a phase parameter corresponding to the gravitational torque current value using a first or second phase function according to a value of the gravitational torque current value.

Provided is a robot control device capable of reducing a robot vibration amount using machine learning based on a small number of operations. A robot control device according to one aspect of the present invention that, in order to perform a task in relation to a target object which is made to move by a robot, controls operation by the robot based on an operation program that uses a plurality of pass-through points to specify a movement path that includes one or more task sections in which the task is to be performed, the robot control device including: a command value generation unit configured to, based on the operation program, generates a command value that instructs a state of the robot for each time; a driving unit configured to drive the robot in accordance with the command value; a vibration amount obtainment unit configured to, for each time, obtain an amount of vibration of the robot that is driven by the driving unit; a vibration amount extraction unit configured to, based on the operation program, extract the amount of vibration for a time corresponding to the task section from among the amounts of vibration obtained by the vibration amount obtainment unit; and a command value correction unit configured to, based on the amount of vibration extracted by the vibration amount extraction unit, correct the command value.

A method of adjusting a motion parameter includes a first information acquisition step of acquiring first information on a motion condition of a robot arm when a first motion parameter is set and the robot arm is controlled to perform a motion, a third information acquisition step of inputting the first information and second information on attributes of the robot to a vibration estimation model and acquiring output third information, and a second motion parameter acquisition step of acquiring a second motion parameter that shortens a working time using the first information, the second information, and the third information. The steps are repeatedly executed using the acquired second motion parameter as the first motion parameter and a target work motion parameter is acquired.

A method of controlling a robot having a plurality of joints includes measuring load torque applied to a driving-force transmission system of each of the plurality of joints while moving a hand of the robot along a predetermined path, comparing a measurement value of the load torque and an allowable range of each of the joints, and controlling a rate of change in acceleration of the driving-force transmission system of each of the joints, depending on a comparison result, in a next operation in which the hand of the robot is moved along the predetermined path.

A vibration reduction system includes a base, a carrier element, and a plurality of actuator systems extending between the base and the carrier element, the plurality of actuator systems arranged to apply forces to the carrier element in multiple axes to reduce vibration of the carrier element, each actuator system of the plurality of actuator systems including a pneumatic actuator and an electric actuator.

A control device includes a control component that performs model predictive control for each control period using a dynamics model representing a relationship between a manipulated variable and the position of a controlled object to generate a manipulated variable to be output to the servo driver. The dynamics model includes a first dynamics model representing a relationship between the manipulated variable and a position of a servomotor, and a second dynamics model representing a relationship between the position of the servomotor and the position of the controlled object. The second dynamics model is created using a waveform parameter extracted from a vibration waveform of the controlled object. The waveform parameter includes a vibration frequency.

A determination value calculated based on a distance from a work point of a tip of robot arm (10) to virtual straight line (30) passing through an axis of second joint (J2) and an axis of third joint (J3) is compared with a predetermined threshold. A method of calculating deflection compensation amounts for second joint (J2) and third joint (J3) is changed depending on whether the determination value is larger or smaller than the threshold. Second joint (J2) and third joint (J3) are caused to pivot based on the calculated deflection compensation amounts.

A vibration suppression method for a servo motor and a load multistage drive system is provided. For a number N of fixed vibration frequencies and one vibration frequency varying with a load position existing in a multistage drive mechanism, a number of N+1 vibration suppression filters are adopted, and each filter is configured to eliminate a corresponding vibration frequency. Fixed vibration frequencies and a vibration frequency varying with a load position in a multistage drive system are measured by using an offline method, and the varied vibration frequencies are made into a two-dimensional table related to the load positions. The fixed vibration frequencies are eliminated by using fixed-frequency parameter vibration suppression filters; and the varied vibration frequencies are eliminated by using a variable-frequency parameter vibration suppression filter, and the vibration frequencies are obtained in real time according to the load positions and the two-dimensional table.

A method for controlling movement of a robot having a plurality of links connected by rotatably driven joints includes the steps of: a) defining a target speed vector of a reference point of the robot in Cartesian space; b) determining rotation speeds ({dot over (q)}.sub.ref) of the joints which minimize a weighted sum, the weighted sum having for summands i) a discrepancy (∥{dot over (x)}.sub.ref.sup.k−J{dot over (q)}.sub.ref.sup.k∥.sub.W.sub.x) between the target speed vector ({dot over (x)}.sub.ref) and an actual speed vector ({dot over (x)}.sub.act) calculated from actual rotation speeds of the joints; and ii) a rate of change

[00001]$\left(\frac{1}{T_S}.Math.{.Math.{\stackrel{.}{q}}_{\mathrm{ref}}^k-{\stackrel{.}{q}}_{\mathrm{ref}}^{k-1}.Math.}_{W_a}\right)$

of the target rotation speeds; and c) setting the rotation speeds ({dot over (q)}.sub.ref) determined in step (b) as target rotation speeds of the joints.

An angular transmission error identification system that identifies an angular transmission error of a speed reducer of a robot arm including a joint that is rotationally driven by a motor via the speed reducer, including an identification unit that calculates amplitude and phase parameters of an angular transmission error identification function, which is a periodic function that models an angular transmission error of the speed reducer and has the parameters, and identifies the error using the function, wherein the unit calculates an amplitude parameter corresponding to a gravitational torque current value which is a value acting on a joint when the error is identified using a first or second amplitude function according to a value of the gravitational torque current value, and calculates a phase parameter corresponding to the gravitational torque current value using a first or second phase function according to a value of the gravitational torque current value.