Robot controlling method, robot apparatus, program and recording medium

A robot apparatus comprising:

• a multi-joint robot;
• and
• a controlling unit configured to control the multi-joint robot,
• wherein:
• the controlling unit performs a control for causing an actuator of each joint of the multi-joint robot to operate according to each joint instruction value,
• the controlling unit calculates a joint error of each joint of the robot, for each of the joints,
• the controlling unit calculates an error component in a driving direction of the actuator of the joint, for each of the joints,
• the controlling unit calculates a residuals component excluding the error component in the driving direction of the actuator from the joint error of the joint, for each of the joints,
• the controlling unit calculates an error in position and orientation of an end point of the robot based on the residuals component of each of the joints by forward mechanism calculation,
• the controlling unit calculates a first correction quantity for correcting the joint instruction value by using the error component in a driving direction of the actuator of the joint, for each of the joints;
• the controlling unit calculates a second correction quantity for correcting the joint instruction value by using an error in position and orientation of the end point of the robot, for each of the joints by inverse mechanism calculation, and
• the controlling unit corrects the joint instruction value by using the first correction quantity and the second correction quantity, for each of the joints.

A non-transitory computer-readable recording medium storing a program for operating a computer to execute a robot controlling method in which a controlling unit performs control for causing an actuator of each joint of a multi-joint robot to operate according to each joint instruction value, the program comprising:

• code for calculating, by the controlling unit, a joint error of each joint of the robot, for each of the joints;
• code for calculating, by the controlling unit, an error component in a driving direction of the actuator of the joint, for each of the joints;
• code for calculating, by the controlling unit, a residuals component excluding the error component in the driving direction of the actuator from the error of the joint, for each of the joints;
• code for calculating, by the controlling unit, an error in position and orientation of an end point of the robot based on the residuals component of each of the joints by forward mechanism calculation;
• code for calculating, by the controlling unit, a first correction quantity for correcting the joint instruction value by using the error component in a driving direction of the actuator of the joint, for each of the joints;
• code for calculating, by the controlling unit, a second correction quantity for correcting the joint instruction value by using the error in position and orientation of the end point of the robot, for each of the joints by inverse mechanism calculation;
• and
• code for correcting, by the controlling unit, the joint instruction value by using the first correction quantity and the second correction quantity, for each of the joints.