| 摘要 |
<P>PROBLEM TO BE SOLVED: To estimate frictional force torque with high accuracy, and to estimate an external force acting on a robot more highly accurately even if not using a force sensor so that a stable force control can be achieved. <P>SOLUTION: In an embodiment of a robot control apparatus with the purpose of more accurately calculating disturbance torque generated by the external force acting on a robot, friction parameters contained in algorithms such as a friction coefficient and a dead-zone threshold are dynamically changed based on the mode of operation, the operation speed and the like. Accordingly, drive torque is estimated with high accuracy. <P>COPYRIGHT: (C)2012,JPO&INPIT |
