Robot controlling method, robot apparatus, program, recording medium, and method for manufacturing assembly component

A method for manufacturing an assembly component by using an articulated robot, the articulated robot including joint driving devices configured to drive respective joints of the articulated robot each including a servomotor, a reduction gear, and a detector configured to detect an angle of an output side of the reduction gear, the method comprising:

• causing the articulated robot to hold a first component and to carry out a first motion of the servomotors;
• a leading end position calculation step of obtaining a position of a leading end of the articulated robot based on detection angles detected by the respective detectors;
• and
• a control step of stopping at least one of a plurality of the servomotors in a case where the position of the leading end of the articulated robot calculated in the leading end position calculation step falls outside a predetermined range, and operating at least one of the plurality of the servomotors in a case where the position of the leading end of the articulated robot calculated in the leading end position calculation step falls within the predetermined range.

A robot controlling method for controlling an articulated robot, the articulated robot including joint driving devices configured to drive respective joints of the articulated robot each including a servomotor, a reduction gear, a motor-side angle detector configured to detect an output angle of the servomotor, and a reduction gear-side angle detector configured to detect an output angle of the reduction gear, the robot controlling method comprising:

• a feedback control step of carrying out feedback control on motion of the servomotor such that a first angle detected by the motor-side angle detector becomes target angle;
• a detecting step of obtaining a second angle of the reduction gear-side angle detectors;
• a timing step of obtaining a time from a reference time point to a time point at which a vibration width of the detection of the detection step starts to converge within a convergence range;
• a setting step of memorizing the time obtained in the timing step as a stopping duration;
• and
• a control step of controlling the articulated robot in operation so as to start a subsequent motion at a time when the stopping duration has elapsed since the reference time.