发明名称 |
ROBOT CONTROL DEVICE |
摘要 |
<p>A robot control apparatus according to an embodiment includes: a joint angle difference calculator calculating a joint angle difference; a torque command value calculator calculating a torque command value for a joint, based on the joint angle difference; an external torque calculator calculating an external torque that is a difference between the estimated drive torque and the torque command value, and determining an external force receiving joint shaft on which an external force from the external torque acts; a compliance model storage unit storing a compliance model at the external force receiving joint shaft; a compliance correction amount calculator calculating a compliance correction amount for a task coordinate system position at the external force receiving joint shaft in accordance with the external force; and a joint angle difference correction amount calculator calculating a joint angle difference correction amount from the compliance correction amount and the partial Jacobian matrix.</p> |
申请公布号 |
EP2586577(A4) |
申请公布日期 |
2013.12.04 |
申请号 |
EP20100853625 |
申请日期 |
2010.06.22 |
申请人 |
KABUSHIKI KAISHA TOSHIBA |
发明人 |
OOGA, JUNICHIRO;OAKI, JUNJI;OGAWA, HIDEKI |
分类号 |
B25J13/08;B25J9/22;G05B19/423 |
主分类号 |
B25J13/08 |
代理机构 |
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代理人 |
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主权项 |
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地址 |
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