SYSTEM AND METHOD FOR CONTROLLING REDUNDANT ROBOT FOR ENHANCING STIFFNESS IN WORKSPACE, AND RECORDING MEDIUM HAVING COMPUTER-READABLE PROGRAM FOR EXECUTING METHOD

摘要

A redundant robot control system comprises an input information setting unit, a location control information generation unit, a workspace stiffness information generation unit, a posture control information generation unit and a joint control information generation unit. The input information setting unit sets up workspace location information, joint-space stiffness information and work direction information of a redundant robot; the location control information generation unit generates workspace location control information of the redundant robot by using the workspace location information; the workspace stiffness information generation unit generates stiffness information of the redundant robot in the workspace by using the joint-space stiffness information of the redundant robot; the posture control information generation unit generates posture control information for maximizing the stiffness of the redundant robot in a work direction in the workspace by using the work direction information and the stiffness information of the redundant robot in the workspace; and the joint control information generation unit generates joint control information of the redundant robot by using the workspace location control information and the posture control information.