| 摘要 |
PROBLEM TO BE SOLVED: To provide a controller for a robot arm having a flexible driven joint, improved in controllability to a model parameter error or disturbance. SOLUTION: The controller 200 for an articulated robot arm 100 combining flexible joints having an elastic element/a damping element system comprises a rotation state detecting means 205 detecting a motor of each joint and rotation statesθ<SB>i</SB>,θ<SB>mi</SB>of a link rotating shaft; a target setting portion 201 obtaining a target link angleθ<SB>di</SB>; a feed forward controlling portion 202 calculating a target driving torqueτ<SB>i</SB>of the link rotating shaft by inverse dynamics calculation of a link system from a target angle track, estimating generation torqueτ<SB>f</SB>of the elastic element/a damping element system on the basis ofθ<SB>i</SB>,θ<SB>mi</SB>from a equation of motion of the elastic element/the damping element system, and obtaining necessary motor driving torqueτ<SB>m</SB>; a feed back controlling portion 203 obtaining motor driving torqueτ<SB>c</SB>from a difference between theθ<SB>di</SB>and theθ<SB>i</SB>; and a torque instructing portion 204 adding theτ<SB>m</SB>and theτ<SB>c</SB>to obtain motor instruction torqueτ<SB>mi</SB>. COPYRIGHT: (C)2006,JPO&NCIPI
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