| 摘要 |
PROBLEM TO BE SOLVED: To provide a robot capable of controlling the attitude of an arm adaptively in response to an external force.SOLUTION: On the basis of an angular orbit of each joint mechanism Jof an arm A, a first torque command value trq1_cmd is set according to a kinetic model. An external force F acting on the arm A at a control point Pis multiplied by a gain coefficient Mgain so that a force command value Fcmd is set. In accordance with the force command value Fcmd, a second torque command value trq2_cmd is set. In accordance with a torque command value trq_cmd of a synthetic result of the first torque command value trq1_cmd and the second torque command value trq2_cmd, action of the arm A is controlled. |
