Patent ID: 9242374
Filing Date: 2016-01-26
CPC Classification: B25J,Y10S

Claim Text:
1. A robotic control apparatus including an angular velocity control system, a controlled object of the apparatus being a robotic arm including an elastic mechanism between a rotation axis of a motor and a rotation axis of a link, the apparatus comprising: a physical parameter switching unit configured to switch a physical parameter set including a moment of inertia, a friction coefficient and a spring modulus which are set for a nonlinear dynamic model of the robotic arm, in accordance with a value of a mass of an end effector load of the robotic arm, the physical parameter set being included in the physical parameter switching unit; an observer unit configured to receive an angular velocity of the motor and a current command value input to the motor, and calculate an integral of the nonlinear dynamic model in real time, and estimate an angular velocity of the link based on a simulation model of a motor angular velocity control system which undergoes gain proportional-integral control equivalent to proportional-integral control of the angular velocity control system; and a state feedback unit configured to calculate an axial torsional angular velocity based on a difference between the angular velocity of the motor and the angular velocity of the link, and feed the calculated axial torsional angular velocity back to the angular velocity control system.