| 摘要 |
<P>PROBLEM TO BE SOLVED: To determine a threshold value for accurately determining external force provided to a robot. <P>SOLUTION: An approximation part 142 acquires, at a predetermined sampling cycle (▵t), vertical drag applied to a robot when external force by human operation and external force by loading are respectively provided to the robot, and approximates the variation of the vertical drag at each sampling interval by an index function. An acquisition part 144 respectively obtains probabilities G<SB POS="POST">L</SB>, G<SB POS="POST">H</SB>at which the variations of the vertical drag exceed f<SB POS="POST">0</SB>in the respective external force values while changing the value of f<SB POS="POST">0</SB>, and obtains the difference between the probabilities. A parameter derivation part 146 sets the value of f<SB POS="POST">0</SB>selected based on the difference between the probabilities acquired by the acquisition part as a parameter (threshold value f<SB POS="POST">c</SB>) used for determination of external force. <P>COPYRIGHT: (C)2012,JPO&INPIT |
