Robotics apparatus, robot control method, program, and recording medium

摘要

The robotics apparatus includes an f1-actuator for driving a first link, an f2-actuator for driving a second link, an actuator for simultaneously driving both links, and a CPU for controlling those actuators. The CPU sets a driving-force command value to an e3-actuator to a predetermined set value. Moreover, the CPU calculates a driving-force command value to the f1-actuator based on the driving-force command value and a target joint angle for a first joint. The CPU calculates a driving-force command value to the f2-actuator and a target joint angle for a second joint. It achieves a control for allowing a distal end of a second link to track a target trajectory and stiffness control at the distal end of the second link with a smaller number of driving sources than that of a conventional 3-pair 6-muscle manipulator.

主权项

1. A robotics apparatus, comprising:
a first link pivotably connected at a first joint with regard to a base portion; a second link pivotably connected at a second joint with regard to the first link; a first driving source configured to drive the first link about the first joint; a second driving source configured to drive the second link about the second joint; a third driving source configured to simultaneously drive the first link about the first joint and the second link about the second joint; and a control unit configured to respectively control driving forces of the first driving source, a driving force of the second driving source and a driving force of the third driving source, based on a first driving-force command value for the first driving source, a second driving-force command value for the second driving source, and a third driving-force command value for the third driving source, wherein the control unit executes: target joint-angle generation processing for generating a first target joint angle for the first joint and a second target joint angle for the second joint based on a target trajectory of a distal end of the second link; setting processing for setting the third driving-force command value to a predetermined setting value; first driving-force command value calculation processing for calculating the first driving-force command value based on the third driving-force command value and the first target joint angle; and second driving-force command value calculation processing for calculating the second driving-force command value based on the third driving-force command value and the second target joint angle.