| 摘要 |
PROBLEM TO BE SOLVED: To reduce the load of arithmetic processing for limiting the force of a tip of a robot by limiting the force so that the force more than a prescribed value for a determined coordinate axis direction among three-dimensional coordinate systems set up on the tip of the robot is not applied to the outside. SOLUTION: Force limiting control (flexible control) is executed as of one coordinate axis direction e.g. z6 coordinate axis direction in the coordinate system o6 of a robot tip. Namely, force applied to the outside by the robot tip as of the z6 coordinate axis direction in the coordinate system o6 is calculated and when the force to be applied to the outside is larger than limited force, the difference is obtained as over tip force and the torque of respective joints generating the over tip force is calculated as over torque. As of each servo motor, a value subtracting the over torque from torque obtained by normal feedback control is applied to a driving part as a torque command value and the force is limited so that force more than certain force is not applied to the outside. |
