| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide a control apparatus in which admittance control can be mitigated from becoming unstable. <P>SOLUTION: A robot control apparatus 1 comprises virtual object motion calculation means 7 and position control means 8 within power control means 3 which controls an arm 10 including an actuator 12 generating a thrust, an encoder 15 and a force sensor 11. The virtual object motion calculation means 7 calculates a target position p<SB POS="POST">d</SB>by solving an equation of motion including parameters of a virtual mass m<SB POS="POST">d</SB>, virtual viscosity c<SB POS="POST">d</SB>and target power f<SB POS="POST">d</SB>as virtual power to be applied to a virtual object, predetermined for the virtual object having a mass which is smaller than a mass of the arm and is not 0, using a contact force (f) detected by the force sensor 11 as input. The position control means 8 calculates a trust (g) to be applied to the arm using proxy based sliding mode control with the target position p<SB POS="POST">d</SB>and a position (p) of the arm detected by the encoder 15 as input and defines the trust as a command value to the actuator 12. <P>COPYRIGHT: (C)2013,JPO&INPIT |
