| 摘要 |
PROBLEM TO BE SOLVED: To provide a robot arm control device having improved safety, a method of controlling the same, and a program. SOLUTION: This robot arm control device 1 is equipped with: a robot arm 2 having a plurality of joint parts; an external force detection means for detecting an external force acting on the robot arm 2; a position correction amount calculation means for calculating a position correction amount for controlling the impedance of the robot arm 2 based on the external force on the robot arm 2 detected by the external force detection means; an instruction value generation means for generating a hand end point position instruction value for instructing the target movement position of the robot arm 2; and a drive control means for controlling the driving of each joint part of the robot arm 2 based on the position correction value calculated by the position correction amount calculation means and a hand end point instruction value generated by the instruction value generation means. The instruction value generation means stops generating the hand end point position instruction value until the position correction amount calculated by the position correction amount calculation means is equal to or less than a predetermined value. COPYRIGHT: (C)2011,JPO&INPIT |
