| 摘要 |
PROBLEM TO BE SOLVED: To control a driving force to be imparted to each joint to a driving force suitable for a robot to perform desired operations while improving the flexibility of the movements of the joints of the robot when the operations of the robot are controlled by force control. SOLUTION: This control device for a robot determines, as a desired driving force to be imparted to a joint, a component value corresponding to the displacement amount of each joint out of a desired generalized force vectorτcmd that satisfies the relationship indicated by expression 01 given below by using basic parameter group of M, N, G, and Jacobian matrixes Jc, Js, a desired value (upward arrow) C of the motion acceleration of a contact portion representative element representing the motion of the contact portion of a robot 1, generalized variable observation information, and a desired value (upward arrow)S' of a first-order differential value of a predetermine type of state amount, and then controls the operation of the actuator of the robot 1 on the basis of the determined desired driving force. Expression 01: S'+(Js*M<SP>-1</SP>*Tc-Js')*q'=(Js*M<SP>-1</SP>*Pc)*(τcmd-τcmpn). COPYRIGHT: (C)2011,JPO&INPIT |
