| 摘要 |
PROBLEM TO BE SOLVED: To provide a robot capable of stabilizing its posture while changing the posture of an arm flexibly according to an external force.SOLUTION: A torque command value is applied to each of a plurality of joint mechanisms J1 to JN so that the action of an arm A is controlled. On the basis of a binding force model for defining the virtual mutual binding force between a substrate B1 and the arm A and the position of the arm A relative to the substrate B1, a virtual binding force acting on the substrate B1 is calculated. In accordance with the binding force, the command values of the position and the posture of the substrate B1 are created according to said binding force so that the actions of a support mechanism B2 are controlled in accordance with said command value. |
