Patent ID: 9492925
Filing Date: 2016-11-15
CPC Classification: B25J,G05B,Y10S

Claim Text:
1. A robot controller comprising: an image acquisition unit that acquires a target image containing an end point of a movable unit of a robot when the end point is in a target position, and a current image containing the end point when the end point is in a current position; a first control unit that generates a first command value for moving the end point from the current position to the target position based on the current image and the target image; a second control unit that generates a second command value for moving the end point based on output from a force detection unit that detects a force acting on the movable unit; and a third control unit that moves the movable unit using the first command value generated by the first control unit and the second command value generated by the second control unit, wherein the third control unit moves the movable unit using a third command value obtained by summing the first and second command values with respective predetermined weights, and the force detection unit detects the force acting on the movable unit by impedance control, and the impedance control is performed by detecting a mass, a viscosity coefficient and an elastic coefficient when an external force is applied to an object held by the movable unit.