A robot control device includes the following: a main control unit; a servo control unit, which receives a position command θc from the main control unit; and a bending correction block (24), which corrects the bending of the reduction gear connected to the servo motor. The bending correction block (24) includes the following: a first position-correction-value calculation means (63), which finds a first position-command correction value θsgc based on the position command θc; and a second position-command-correction-value calculation means (64), which finds a second position-command correction value θskc based on the interference torque τa. The servo control unit drives the servo motor based on a new position command obtained by adding the first position-command correction value θsgc and the second position-command correction value θskc to the position command θc.

Disclosed is a method for compensating for disturbing couples for a movement simulator, the simulator including, for each axis, a monovariable correcting unit that receives a signal giving the difference between the setpoint θ.sup.r.sub.j and the measurement θ.sub.j for the corresponding axis and producing the control signal U.sub.j. The disruptive couples are Coriolis, centrifugal and gravitational couples and furthermore a compensating law calculates a formula (a) estimating the disruptive couples, calculated on the basis of an error ε.sub.j(t) that is the control signal U.sub.j filtered by a filter H(q.sup.−1), and the simulator is modelled with a dynamic model expressing the couples in an affine way with respect to a set of base parameters χ according to a matrix relationship of the type: formula (b), and a subset j of base parameters, the estimation of the couples being formula (c), and, online, the α.sub.j are calculated via an iterative equation.

Disclosed is a method for compensating for disturbing couples for a movement simulator, the simulator including, for each axis, a monovariable correcting unit that receives a signal giving the difference between the setpoint .sup.r.sub.j and the measurement .sub.j for the corresponding axis and producing the control signal U.sub.j. The disruptive couples are Coriolis, centrifugal and gravitational couples and furthermore a compensating law calculates a formula (a) estimating the disruptive couples, calculated on the basis of an error .sub.j(t) that is the control signal U.sub.j filtered by a filter H(q.sup.1), and the simulator is modelled with a dynamic model expressing the couples in an affine way with respect to a set of base parameters according to a matrix relationship of the type: formula (b), and a subset j of base parameters, the estimation of the couples being formula (c), and, online, the .sub.j are calculated via an iterative equation.

A robot control device includes the following: a main control unit; a servo control unit, which receives a position command c from the main control unit; and a bending correction block (24), which corrects the bending of the reduction gear connected to the servo motor. The bending correction block (24) includes the following: a first position-correction-value calculation means (63), which finds a first position-command correction value sgc based on the position command c; and a second position-command-correction-value calculation means (64), which finds a second position-command correction value skc based on the interference torque a. The servo control unit drives the servo motor based on a new position command obtained by adding the first position-command correction value sgc and the second position-command correction value skc to the position command c.

A robot controller controls an arm tip end portion of a robot to move at constant predetermined speed on the basis of a movement path including an arc portion, the robot controller including: a centrifugal force calculation unit that calculates a centrifugal force acting on the arm tip end portion as time series data; a transformation unit that performs Fourier transformation with respect to the time series data of the centrifugal force into frequency data; and a speed determination unit that determines the predetermined speed such that a frequency component in a predetermined range including a natural vibration frequency of the robot is equal to or less than a threshold on the basis of frequency data of the centrifugal force.

A method for controlling a kinematically redundant robot (100) in order to fulfill multiple tasks. At least one passivity-based first controller module (102) is used, at least one task target description and at least one associated task mapping are computed for the at least one first controller module (102), at least one weighting is computed for the tasks, and the at least one first controller module (102) is integrated into an overall controller (104), using the at least one weighting. Moreover, the invention relates to a computer program product that includes commands which, when the program is executed with the aid of at least one processor, prompt the processor to carry out such a method.