| 摘要 |
<P>PROBLEM TO BE SOLVED: To rapidly and stably perform convergence operation of robot control. <P>SOLUTION: This robot control device includes: a command value generation means to generates a position command value of a predetermined part of a robot; a first deviation calculation means to calculate a deviation between the position command value generated by the command value generation means and a control position of the predetermined part; a force reference value calculation means to calculate a force reference value being a reference value of force generated in the predetermined part based on the deviation calculated by the first deviation calculation means; a joint angle calculation means to calculate each joint torque value based on the force reference value calculated by the force reference value calculation means and a transposition Jacobian matrix and calculate each joint angle based on each calculated joint torque value; and a forward kinematic arithmetic means to calculate a control position of the predetermined part by performing forward kinematic arithmetic based on each joint angle calculated by the joint angle calculation means. <P>COPYRIGHT: (C)2013,JPO&INPIT |
