| 主权项 |
1. A robot system comprising:
a robot having a plurality of joint axes including a redundant axis, the joint axes being driven by a servomotor; and a robot control device that controls the robot, the robot control device comprising:
a first command generator configured to generate a first joint angular speed command for the robot on the basis of an input speed command for a control point of the robot;a limit avoidance command generator configured to generate a joint angular speed command A for the robot for avoiding a state in which the robot reaches an operating limit, on the basis of an evaluation function A, while a signal A is being input;a posture optimization command generator configured to generate a joint angular speed command B for the robot for optimizing a posture of the robot, on the basis of an evaluation function B, while a signal B is being input,a null space matrix calculator configured to calculate a null space matrix of a Jacobian matrix related to the control point,a second command generator configured to generate a second joint angular speed command for the robot on the basis of the joint angular speed command A, the joint angular speed command B, and the null space matrix, anda controller configured to control the servomotor on the basis of a third joint angular speed command that is a sum of the first and second joint angular speed commands. |
