| 摘要 |
PROBLEM TO BE SOLVED: To provide a joint driving type robot which is excellent in controllability, and can realize complicated control, and further to provide its control method. SOLUTION: The joint driving type robot according to one embodiment of the present invention is a robot having joints to be driven according to an input drive quantity, and comprises a group 145 of controlled variable calculating sections having a plurality of controlled variable calculating sections for calculating the controlled variable for achieving the drive quantity according to the target posture of the joint driving type robot respectively, a composing section 138 for composing the controlled variables calculated by the respective controlled variable calculating sections 135 in the group 145 of controlled variable calculating sections, and for outputting the composed controlled variables as the drive quantity of the joints, a limit value setting section 136 for setting the limit value of the controlled variable at least for one controlled variable calculating section in the group of controlled variable calculating sections, and a comparing section 137 for comparing the limit value with the controlled variable. When the controlled variable exceeds the limit value, the controlled variable to be composed in the composing section 138 is corrected so as not to exceed the limit value. COPYRIGHT: (C)2008,JPO&INPIT
|
