| 摘要 |
PROBLEM TO BE SOLVED: To provide a device and method of controlling a robot manipulator, correctly estimating the disturbance torque applied to the manipulator without using any joint acceleration of the manipulator. SOLUTION: The device of controlling the robot manipulator includes: a sensing unit to sense a joint position and the joint torque of the manipulator; a disturbance estimator to estimate disturbance torque using a state space equation with respect to the manipulator having the sensed joint position and joint torque as the input; and a controller to control the manipulator, based on the estimated disturbance torque. COPYRIGHT: (C)2010,JPO&INPIT
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