Robot and friction compensation method therefor

A robot comprising:

• a master device comprising an input unit, the input unit comprising a first end effector, a first joint, and a motor configured to drive the first joint;
• a slave device configured to be controlled by the master device and comprising a robot arm, the robot arm comprising a second end effector and a second joint;
• and
• a controller configured to:
• calculate a friction compensation value to compensate for friction of the first joint based on a speed of the robot arm in response to the robot arm being in motion;
• generate a control signal based on the friction compensation value;
• and
• transmit the control signal to the motor configured to drive the first joint.

A robot comprising:

• a master device comprising an input unit, the input unit comprising a first end effector, a first joint, and a first motor configured to drive the first joint;
• a slave device configured to be controlled by the master device and comprising a robot arm, the robot arm comprising a second end effector, a second joint, and a second motor configured to drive the second joint;
• a first controller configured to:
• calculate a first friction compensation value to compensate for friction of the second joint based on a speed of the input unit in response to the input unit being in motion;
• generate a first control signal based on the first friction compensation value;
• and
• transmit the first control signal to the second motor configured to drive the second joint;
• and
• a second controller configured to:
• calculate a second friction compensation value to compensate for friction of the first joint based on a speed of the robot arm in response to the robot arm being in motion;
• generate a second control signal based on the second friction compensation value;
• and
• transmit the second control signal to the first motor configured to drive the first joint.

A robot comprising:

• a first device comprising an input unit;
• a second device configured to be controlled by the first device in response to manipulation of the input unit by a user and comprising a robot arm;
• and
• a controller configured to:
• generate a control signal to control movement of the robot arm and compensate for friction of the robot arm based on a speed of the input unit;
• and
• transmit the control signal to the robot arm.