| 摘要 |
PURPOSE:To realize the delicate force control and the accurate positioning control by deciding a target position with generation of a function based on a speed detected by a force sensor and converted and a positioning speed decided in response to a command positioning point and feeding back the a difference between said target position and present position. CONSTITUTION:The sensor feedback control performs the shift control of robot fingers based on the force detected by a force sensor attached to a robot and applied to the fingers and a commanded position point. Then, a target position is set with generation of a function based on s speed detected by the force sensor and the commanded position point. The difference between said target position and the present position undergoes the feedback control. Thus the simultaneous feedback control is carried out between the force control and the position control so that a fitting job, etc., can be carried out at a high speed and the obstacles can be evaded on a route.
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