ROBOT AND METHOD FOR CONTROLLING THE SAME

摘要

PURPOSE: A robot and a control method thereof are provided to reduce calculation time of hand and arm routes by generating arm moving route after grip motion route being generated. CONSTITUTION: A robot comprises a database unit(225), an input unit(205), a grip motion route generating unit(220), an arm route generating unit(230), and a control unit(240). The database unit saves grip motions for each target. The position information of each target is input in the input unit. The grip motion route generating unit determines grip motion route and desired grip motion based on gripping purpose. The arm route generating unit generates the arm route corresponding to the grip motion route. The control unit calculates the torque following the arm route to control the moving and gripping of an arm.