Robot, robot control device, robot control method, and robot control program

摘要

A robot having joints includes a position information acquiring section that acquires time series information about a robot position, speed information, or acceleration information, a dynamics parameter switching section that switches a gravity term component and an inertia force term component of a motion equation separately between dynamics parameters including dynamics parameter of the robot gripping no object and dynamics parameter including the object gripped by the robot which robot arm gripping the object, and a desired torque calculation section that outputs a desired robot joint torque value as a desired joint torque based on the motion equation after the dynamics parameter switching section switches the dynamics parameters and the time series information about the robot position, the speed information, or the acceleration information acquired by the position information acquiring section. The robot controls an operation of the robot based on an output from the desired torque calculation section.

主权项

1. A robot, comprising:
a robot arm that has joints and handles an object; and a control device that controls an operation of the robot arm, the control device comprising: a position information acquiring section that acquires time series information about a position of the robot arm; a dynamics parameter switching section that separates a gravity term component and an inertia force term component of a motion equation from each other and switches the gravity term component and the inertia force term component of the motion equation separately before or after a timing of switching from a restrained state that an arm end point of the robot arm is restrained due to a contact with external environment to a non-restrained state and before or after a timing of switching from the non-restrained state to the restrained state, between a plurality of dynamics parameters having the dynamics parameter of the robot arm in a state where the robot arm does not grip an object and the dynamics parameter including the object gripped by the robot arm in a state where the robot arm grips the object; and a desired torque calculation section that outputs a desired value of a joint torque of the robot arm as a desired joint torque based on the motion equation after the dynamics parameter switching section switches the dynamics parameters and the time series information about the position of the robot arm acquired by the position information acquiring section, wherein the control device controls the operation of the robot arm based on an output from the desired torque calculation section.