| 摘要 |
PROBLEM TO BE SOLVED: To provide a remotely-controlled robot control device capable of feeding back the inner force sense only during the reliable contact, and efficiently performing the contacting work by using a joystick or a master arm. SOLUTION: In the remotely-controlled robot control device comprising a master control unit for controlling the joystick or the master arm, a robot control unit for controlling a robot, and a communication unit for performing the communication between the master control unit and the robot control unit, the robot control unit comprises a flexible control means 120 having a motor control means 12 which detects the rovolute joint angle, performs the state feedback control of the position and the speed based on the angle command in the revolute joint coordinate system, and limits the torque in the second stage of a position and speed control unit of the motor control means 12, a means 125 for monitoring the difference of the torque command value before and after the torque limitation, and a means 113 for generating the inner force sense feedback signal according to the difference.
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