Method and device for controlling robot
专利汇可以提供Method and device for controlling robot专利检索，专利查询，专利分析的服务。并且PURPOSE: To attain the control of a robot with high accuracy despite the influences of the deterioration of parts accuracy, an assembling error, the deflection, etc., by correcting the error based on the learning result acquired through a neural net.
CONSTITUTION: The position obtained by a position measuring part 3 is previously given to the input layer of a neural net 5 as an input pattern. Simultaneously, an error calculated by an error detecting part 4 is applied to a comparison part as a teacher signal. Thus the relation between the command value and the error is learnt by the net 5 sufficiently. Then a selective part 6 supplies the error obtained by the net 5 to an arithmetic part 1 as an error correction command. At the same time, a selective part 7 supplies the command value to the net 5 as an input signal. The part 1 performs an adverse kinematic operation based on the value obtained by adding the command value to the preceding error. Thus the part 1 can output an action command that never produces an error.
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