ROBOTIC APPARATUS AND CONTROL METHOD THEREFOR

摘要

The robotic apparatus (1) is provided with a control device (3) for performing correction using values estimated by a joint torque-estimating unit (53) for estimating the joint torque acting on each joint (20-25). The joint torque-estimating unit (53) comprises a Coulomb's frictional force torque-estimating unit (70), a viscous frictional force torque-estimating unit (71), and a shift interval-computing unit (72) for making shifts from the Coulomb's frictional force torque-estimating unit (70) to the viscous frictional force torque-estimating unit (71) and shifts from the viscous frictional force torque-estimating unit (71) to the Coulomb's frictional force torque-estimating unit (70) smooth.