| 摘要 |
PROBLEM TO BE SOLVED: To make contact force mitigating actions while retaining a fingertip position and attitude in a robot.SOLUTION: A robot's joint angle qis calculated from a planned fingertip position Xby inverse kinematics arithmetic operation. A designated angle qis calculated from the joint angle q. A robot's joint is driven on the basis of the designated angle qto measure a torque Twhich multiplies the joint. A torque Tis calculated from the designated angle qby inverse kinematics arithmetic operation. The torque Tis subtracted from the torque Tto calculate a torque τ under an external force. A target angular velocity ωis subjected to zero space conversion to calculate a corrected angular velocity ωto calculate a corrected angle &Dgr;from the corrected angular velocity ω. When a corrected joint angle &Dgr;qis already calculated, the designated angle qis calculated on the basis of the joint angleand the corrected joint angle &Dgr;q. |
