| 摘要 |
A flexibility controller for robots, adapted to carry out a position controlling operation and a flexibility control operation in a switching manner. When a position controlling operation is switched to a flexibility controlling operation, an integrated value of a speed control system is stored in a memory, and an integration operation is interrupted, the integrated value being added to a torque instruction, or a gravity compensation value calculated on the basis of the condition of a robot arm being added to the torque instruction. When a flexibility controlling operation is switched back to a position controlling operation, the current position is set as an instruction position. The flexibility controller comprises a means (102) for controlling the torque of a servomotor, a means (106) for measuring an angle of a joint, a means (108) for computing a minute displacement between coordinates, a means (102) receiving the corresponding relation between a limit value of the force or a torque set in a working coordinate system and the minute displacement mentioned above, and converting this relation into a limit value of the torque of the joint, and torque limiting means (104, 105, 106).
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