| 摘要 |
PROBLEM TO BE SOLVED: To provide an apparatus for carrying out force control in a working coordinate system, which is able to cope with even the displacement of a large stroke without using a sensor, etc. SOLUTION: The apparatus for controlling the robot comprises a movement torque calculating section 15 for calculating a movement torque command necessary for the movement of a servomotor, a disturbance torque estimating section 16 for calculating disturbance torque, a minute displacement relation calculating section 17 for calculating the minute displacement relation between the working coordinate system of the robot and an articulation coordinate system of the servomotor, an external force calculating section 18 for converting the disturbance torque to an external force in the working coordinate system, a force control section 19 for calculating a positional correction amount in the working coordinate system of the robot, and an articulation angle correction amount calculating section 20 for converting the positional correction amount to the articulation angle correction amount in an articulation coordinate system. COPYRIGHT: (C)2003,JPO
|
