| 摘要 |
<p>The present invention relates to a control apparatus and flexible control apparatus of a robot which performs operations while switching between a position control and a flexible control. When a transition from the position control to the flexible control is made, an integration operation of a speed control system is stopped. Thereafter, an integration value of the speed control system is stored in a memory, and, at the same time, the integration value is added to a torque reference. Alternately, a gravity compensation value is added to the torque reference, the gravity compensation value being computed based on a joint angle of a robot arm and a link mass and a position of a center of gravity of the robot. When the control returns from the flexible control to the position control, a present position is dealt with an instruction position. The flexible control apparatus comprises means (102) for controlling a torque of a servo motor to drive a joint portion; means (106) for measuring a joint angle; means (108) for computing a very small displacement between coordinates based on the measurement information; means (102) for converting a limitation value (107) of either a force or a torque set in an operation coordinate system by giving the foregoing very small displacement correspondence relation to the foregoing computation means (108); and means (104, 105, 106) for limiting the torque. <IMAGE></p> |
