Robot controller, robot system, robot control method

摘要

A robot controller includes a force control unit that outputs a correction value of a target track of a robot based on a detected sensor value acquired from a force sensor, a target value output unit that obtains a target value by performing correction processing on the target track based on the correction value and outputs the obtained target value, and a robot control unit that performs feedback control of the robot based on the target value. The force control unit includes an impedance processor that obtains a solution of a differential equation in force control as the correction value before the conversion processing, and a nonlinear convertor that obtains the correction value after the conversion processing by performing nonlinear conversion processing on the correction value before the conversion processing acquired from the impedance processor and outputs the obtained correction value after the conversion processing.

主权项

1. A robot controller comprising:
a force control unit including an impedance processor and a nonlinear convertor, the force control unit receiving a detected sensor value from a force sensor and outputting a correction value of a target track of a robot based on the detected sensor value; a target value calculator determining a target value by performing correction processing on the target track based on the correction value; and a robot operator controlling the robot based on the target value and feedback signals from the robot, wherein the robot operator outputs control signals to the robot, wherein the impedance processor includes a digital filter that performs digital filter processing on the detected sensor value, and wherein the nonlinear convertor obtains the correction value by performing nonlinear conversion processing on an output of the digital filter and outputs the correction value to the target value calculator.