ARM CONTROL DEVICE, CONTROL METHOD, AND CONTROL PROGRAM; ROBOT; AND ARM-CONTROLLING INTEGRATED ELECTRONIC CIRCUIT

摘要

A touch-panel display, with an attached arm, wherein: a torque calculation unit (110) uses a position acquired by a touch-position-information acquisition unit (108) and a force acquired by a touch-force-information acquisition unit (109) to calculate a torque applied to the touch-panel display (303); a stiffness-parameter-information generation unit (111) uses the calculated torque to generate stiffness-parameter information for controlling the arm (102) such that the position and orientation of the touch-panel display do not change; and an arm control unit (112) controls the arm on the basis of the generated stiffness-parameter information.