ROBOT AND METHOD FOR CONTROLLING COOPERATIVE TASK OF THE SAME

摘要

PURPOSE: A robot and a method for controlling cooperative task of the same are provided to enable a plurality of robot manipulators to perform cooperative task through impedance control using the relative Jacobian of one end effector on the other end effector. CONSTITUTION: A method for controlling cooperative task of a robot comprises following steps. The absolute coordinate location of end effectors installed at a plurality of manipulators performing operation is calculated. The relative coordinate location is calculated from the absolute coordinate location of each end effector. The joint torque of the manipulators is calculated using the relative coordinate location(112). The coordination task of the manipulators is controlled according to the joint torque(114).