A curve fitting method, apparatus and device based on a drawing tool for improving the accuracy of curve fitting. The method includes: determining a fitting area containing the original curve, in the fitting area, performing at least one sub-fitting operation on the original curve until the end condition of the curve fitting is satisfied, and generating a fitting curve corresponding to the original curve based on the fitting curve corresponding to each sub-fitting operation. This method can fit the original curve segments in the fitting area, which improves the accuracy of the obtained fitting curve.

This method for controlling an industrial robot comprising a moving robot arm provided with at least one electric motor suitable for moving this robot arm includes the following steps: a) the execution (1000), by a central unit, of a control program of the robot arm and, in response, the calculation and sending of position instructions of the robot arm; b) generation (1004) of supply voltages of the motor by an axis controller as a function of the calculated position instructions, implementing cascading regulators including at least one entry point receiving an input signal; and c) controlling (1006) the motor with the generated supply voltages.
During step b), a sound excitation signal is superimposed with the input signal of one of the regulators to form a composite signal, the supply voltages being generated as a function of the composite signal.

This method for controlling an industrial robot comprising a moving robot arm provided with at least one electric motor suitable for moving this robot arm includes the following steps: a) the execution (1000), by a central unit, of a control program of the robot arm and, in response, the calculation and sending of position instructions of the robot arm; b) generation (1004) of supply voltages of said motor by an axis controller as a function of the calculated position instructions, implementing cascading regulators including at least one entry point receiving an input signal; c) controlling (1006) said motor with the generated supply voltages.
During step b), a sound excitation signal is superimposed with the input signal of one of the regulators to form a composite signal, the supply voltages being generated as a function of the composite signal.