| 摘要 |
PROBLEM TO BE SOLVED: To provide a control device of a robot, simplifying an arithmetic expression to shorten the processing time, preventing an erroneous detection even when an operational command suddenly changes, and detecting an unexpected contact with peripherals extending over the whole robot arm with high sensitivity. SOLUTION: This control device of a robot includes: a means for controlling the output of an actuator of each joint and a means for measuring the displacement amount of each joint. The control device further includes: a robot model 102 simulating a robot 101; a control operation model part 104 simulating a control operation part 103; and a position attitude comparing part 107 for comparing the position attitude of a plurality of links between the robot 101 and the robot model 102. Thus, erroneous detection due to servo delay can be prevented, and further the plurality of links are monitored to detect contact of the whole robot with high sensitivity. COPYRIGHT: (C)2006,JPO&NCIPI
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