Control device for robot

A control device for a robot including a driving unit, a moving unit that is driven by the driving unit and is slidable along a predetermined track in a horizontal surface, and a predetermined shaft that is slidably supported by the moving unit in a vertical direction, the predetermined shaft to which a subject is assembled, comprising:

• a target position calculating unit calculating a target position that is a latest target position of the moving unit;
• an accelerating-speed calculating unit calculating an accelerating speed of when the target position calculated by the target position calculating unit changes;
• a gravity-center distance calculating unit calculating a gravity center distance that is a distance from a support portion of the moving unit supporting the predetermined shaft to a gravity center of a total load that is equivalent to the predetermined shaft and the subject, based on the gravity center and a position of the predetermined shaft in the vertical direction;
• a correction target-position calculating unit calculating a correction target position that is obtained by correcting the target position, based on the target position calculated by the target position calculating unit, a spring constant relative to a twisting of the predetermined shaft, a mass of the total load, the accelerating speed calculated by the accelerating-speed calculating unit, and the gravity center distance calculated by the gravity-center distance calculating unit, such that a position of the gravity center which is projected on the predetermined track approaches the target position;
• a correction instruction-value calculating unit calculating a correction instruction value that drives the driving unit to control the driving unit to move to the correction target position calculated by the correction target-position calculating unit;
• and
• a driving control unit controlling the driving unit based on the correction instruction value calculated by the correction-instruction valve calculating unit.

A control device for a robot including a driving unit, a moving unit that is driven by the driving unit and is slidable along a predetermined track in a horizontal surface, and a predetermined shaft that is slidably supported by the moving unit in a vertical direction, the predetermined shaft to which a subject is assembled, comprising:

• an instruction value calculating unit calculating an instruction value that drives the driving unit such that the moving unit is moved to a target position that is a latest target position of the moving unit;
• an accelerating-speed calculating unit calculating an angular accelerating speed of when the instruction value calculated by the instruction value calculating unit changes;
• a gravity-center distance calculating unit calculating a gravity center distance that is a distance from a support portion of the moving unit supporting the predetermined shaft to a gravity center of a total load that is equivalent to the predetermined shaft and the subject, based on the gravity center and a position of the predetermined shaft in the vertical direction;
• a correction instruction-value calculating unit calculating a correction instruction value by correcting the instruction value calculated by the instruction value calculating unit, based on the instruction value, a spring constant of the support portion relative to a twisting of the predetermined shaft, a mass of the total load, the angular accelerating speed calculated by the accelerating-speed calculating unit and the gravity center distance calculated by the gravity-center distance calculating unit, such that a position of the gravity center which is projected on the predetermined track approaches the target position;
• and
• a driving control unit controlling the driving unit based on the correction instruction value calculated by the correction-instruction valve calculating unit.