| 摘要 |
PROBLEM TO BE SOLVED: To perform control without using an external world sensor by detecting a torque command exceeding the threshold value, converting the excess part of torque exceeding the threshold value, into displacement using a compliance parameter, and updating the target position of a joint on the basis of this displacement. SOLUTION: Motors M1 ,...Mn-1 , Mn based on target positions are driven by servo drivers S1 ,...Sn-1 , Sn , and feedback is applied so as to take difference from the target positions. Displacement computing parts D1 ,...Dn-1 , Dn take out torque commands Tref based on the connected servo drivers S1 ,...Sn-1 , Sn and compares them with the threshold value Tth . As a result, displacementΔis obtained using a compliance parameter K according to the value exceeding the threshold value. This displacementΔis subtracted from the target position to update a new target position. The target position is updated by translation or rotation, and the target position of each shaft is obtained by inverse conversion of coordinates.
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