Robot, method for controlling robot, and non-transitory computer-readable storage medium storing computer program for controlling robot

A method for controlling a robot including an arm and a motor that moves the arm according to a drive signal, the method comprising:

• performing, on the motor, a drive signal generation process including
• filtering a position command to generate a filtered command, and
• generating the drive signal using the filtered command, wherein
• the filtering the position command to generate the filtered command includes
• applying a band-stop filter and a low-pass filter having a variable cutoff frequency to the position command,
• the method further comprises:
• receiving an instruction from an outside;
• and
• setting the cutoff frequency of the low-pass filter according to the instruction before the application of the low-pass filter to the position command,
• the setting the cutoff frequency of the low-pass filter is to
• set the cutoff frequency to a first frequency when an instruction to prioritize an operating speed out of suppression of vibration of the arm and the operating speed of the arm is received, and
• set the cutoff frequency to a second frequency lower than the first frequency when an instruction to prioritize the suppression of vibration out of the suppression of vibration of the arm and the operating speed of the arm is received.

A non-transitory computer-readable storage medium storing a computer program for controlling, using a computer, a robot including an arm and a motor that moves the arm according to a drive signal, the computer program causing the computer to implement a function of executing, on the motor, functions of:

• filtering a position command to generate a filtered command;
• and
• generating the drive signal using the filtered command, wherein
• the function of filtering the position command to generate the filtered command includes
• a function of applying a band-stop filter and a low-pass filter having a variable cutoff frequency to the position command,
• a function of receiving an instruction from an outside, and
• a function of setting the cutoff frequency of the low-pass filter according to the instruction before the application of the low-pass filter to the position command,
• the function of setting the cutoff frequency of the low-pass filter includes
• a function of setting the cutoff frequency to a first frequency when an instruction to prioritize an operating speed out of suppression of vibration of the arm and the operating speed of the arm is received, and setting the cutoff frequency to a second frequency lower than the first frequency when an instruction to prioritize the suppression of vibration out of the suppression of vibration of the arm and the operating speed of the arm is received.