ROBOT CONTROL SYSTEM, ROBOT SYSTEM, AND SENSOR INFORMATION PROCESSING APPARATUS

摘要

A robot control system includes a force control unit configured to output a correction value of a target track of a robot on the basis of sensor information acquired from a force sensor, a target-value output unit configured to apply correction processing based on the correction value to the target track to calculate a target value and output the calculated target value, and a robot control unit configured to perform feedback control of the robot on the basis of the target value. The force control unit includes a digital filter unit. The force control unit applies digital filter processing by the digital filter unit to the sensor information to calculate a solution of an ordinary differential equation in force control and outputs the correction value on the basis of the calculated solution.

主权项

1. A robot control system which controls a robot having a force sensor, the robot control system comprising:
a memory; a digital filter; and a processor configured to control the robot by a control signal based on a first output of the digital filter, wherein the digital filter is configured to generate the first output based on a measurement of the force sensor and a second output stored in the memory.