Position/force controlling apparatus for working machine with multiple of degrees of freedom.

摘要

A position/force control apparatus for use with a multi-freedom-degree working machine having at least two degrees of freedom such as a robot, a machine tool or the like. The apparatus is composed of the following components: first setting device for setting a position command and/or a posture command for commanding the position and/or the posture of a working tool on the machine; first detection device for detecting the instant position and/or the instant posture of the working tool; second setting device for setting a force command and/or a moment command for commanding the force and/or the moment to be applied to the working tool; second detection device for detecting the instant force and/or the instant moment acting on the working tool; first computing device for determining, from the position command and/or the posture command set by the first setting device and the instant position and/or the instant posture detected by the first detection device, the position and/or posture offset in terms of the coordinate values of a spontaneous coordinate system; second computing device for determining, from the force command and/or the moment command set by the second setting device and the instant force and/or the instant moment detected by the second detection device, force and/or moment offset in terms of the coordinate values of the spontaneous coordinate system; third computing device for executing position/force computation for the control of the position of and the force on the working tool by making use of the position and/or posture offset in terms of the coordinate values of the spontaneous coordinate system as obtained through conversion performed by the first computing device and the force and/or moment offset in terms of the coordinate values of the spontaneous coordinate system as obtained through conversion performed by the second computing device, thereby determining the amount of control to be effected on the working machine; and fourth computing device for converting the control amount in terms of the coordinate values of the spontaneous coordinate system determined by the third computing device into the operation command of the driving system for driving the working machine.