| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide a robot, along with a robot controller, robot control method and program, for properly correcting an effect of gravity applied to a hand for each posture of the robot. <P>SOLUTION: The robot includes: a memory unit 104 for storing a model equation having a constant modeling the effect of gravity that is input to a force sensor 30 interposed between the hand and the arm 2; a variable calculation unit 106 for calculating a value of the constant of the model equation by using a detection value that is output from the force sensor while the hand does not hold an object; and a correction unit 107 for correcting the detection value of the force sensor by calculating a correction value of the effect of gravity by substituting the constant calculated by the variable calculation unit into the model equation, and by subtracting the calculated correction value from the detection value that is output from the force sensor. <P>COPYRIGHT: (C)2013,JPO&INPIT |
