| 摘要 |
<P>PROBLEM TO BE SOLVED: To calculate external force acting on a tip of a robot at a high degree of accuracy while achieving a low-cost force sensor. <P>SOLUTION: The force control device includes: a robot 3 driven by a motor; a robot controller 2 for generating a current command for driving the motor so that a tip end of the robot 3 is followed to a command position; a force sensor 31 for detecting external forces in three moving directions of x-axis direction, y-axis direction and z-axis direction among six moving directions of the tip end of the robot 3; and a force estimating observer 4 for identifying, based on the detection value of the force sensor 31 and the position of the motor and the current command, friction coefficients required for calculating the external forces in the rotating directions of the three axes which at least the external sensor 31 does not detect external force among the moving directions of the n number of the tip ends of the robot 3, and calculating an estimation value of moment acting in the rotating direction of the three axes based on the identified friction coefficient. <P>COPYRIGHT: (C)2012,JPO&INPIT |
