| 摘要 |
PROBLEM TO BE SOLVED: To provide a robot control system, a robot system, a sensor information processing device and the like, which facilitate conversion to hardware, stability verification, and switching of responsiveness of solution.SOLUTION: A robot control system includes: a force control part 20 for outputting a correction value of a target trajectory of a robot 100, on the basis of sensor information from a force sensor 10; a target value output part 60 for acquiring a target value by performing correction processing on the basis of the correction value with respect to the target trajectory, and outputting the acquired target value; and a robot control part 80 for performing feedback control of the robot 100 on the basis of the target value. The force control part 20 has a digital filter part 22. The force control part 20 performs digital filtering processing by a digital filter part 22 with respect to the sensor information to acquire a solution of an ordinary differential equation in force control, and outputs the correction value on the basis of the acquired solution.SELECTED DRAWING: Figure 10 |
