| 摘要 |
A robot includes a multi-joint robot arm, an external force acquiring unit arranged at the multi-joint robot arm to acquire an external force, and an impedance control unit that causes the multi-joint robot arm to operate as a virtual spring-mass-damper system based on the external force acquired by the external force acquiring unit. The impedance control unit has an impedance map storage unit that defines impedance parameters at each of points of the work region, and an impedance map variable unit that changes the distribution of the impedance parameters in the impedance map storage unit in accordance with the current arm end position or the current arm end velocity of the multi-joint robot arm. |
