Control method of robot apparatus and robot apparatus

摘要

A control method of a robot apparatus, the robot apparatus including a link and a pair of actuators, obtaining each driving force command value of each of the actuators, and controlling each of the actuators, the control method including: a torque command value calculation step of using the target stiffness, the target trajectory, angular velocity of the target trajectory, and angular acceleration of the target trajectory to calculate a torque command value; a determination step of determining whether each of the driving force command values is a value 0 or greater; a change step of performing at least one of a change of increasing the target stiffness and a change of reducing the angular acceleration; and a driving force command value calculation step of using the target stiffness and the torque command value to calculate each of the driving force command values.

主权项

1. A robot apparatus comprising:
a link pivotally connected to a base body through a joint; a pair of actuators that generate driving forces for pulling the link in opposite directions relative to the base body to provide torque to the joint based on a difference in the driving force and to provide stiffness to the joint based on a sum of the driving force; and a control unit configured to control the pair of actuators so that the link follows a target trajectory; wherein the control unit executes calculating, based on inverse dynamics of the link, a torque command value representing a torque of the joint, and a stiffness command value representing a stiffness of the joint; calculating driving force command values representing target driving forces of the pair of actuators based on the torque command value and the stiffness command value; wherein in case at least one of the driving force command values obtained by the calculation represent a corresponding actuator pushing the link, the control unit executes at least one of increasing the target stiffness and reducing an angular acceleration of the target trajectory.