| 摘要 |
PURPOSE:To improve the precision of control by lowering the gain of a closed loop control system so as to stably increase an area and at the same time combining an opened loop control system. CONSTITUTION:A hybrid control type robot controller of a position and a force is constituted of compliance selection matrixes 14 and 21 which decide a coordinate axis for executing a force control, matrixes 13 and 16 which decide the coordinate axis for executing the position control, a matrix 15 which converts the error command value of the position from the hand coordinate system to the joint coordinate system of a robot, a matrix 18 which converts the error command value of the force from the hand coordinate system to the joint coordinate system of the robot and a matrix 25 which converts the advanced speed of the robot from the hand coordinate system to the joint coordinate system. And by providing a control system which adds the command of the opened loop with the command of the closed loop at the time of controlling the force of the robot so as to convert the outputted value into the joint coordinate system and sets the signal as the speed command signal of a servo amplification part 2, the stable area of the loop can made wider.
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