Patent ID: 9597798
Date: 2017-03-21
CPC Classifications: B25J,G05B

Claim:
1. A robot apparatus comprising: a link pivotally connected to a base body through a joint; a pair of actuators that generate driving forces for pulling the link in opposite directions relative to the base body to provide torque to the joint based on a difference in the driving force and to provide stiffness to the joint based on a sum of the driving force; and a control unit configured to control the pair of actuators so that the link follows a target trajectory; wherein the control unit executes calculating, based on inverse dynamics of the link, a torque command value representing a torque of the joint, and a stiffness command value representing a stiffness of the joint; calculating driving force command values representing target driving forces of the pair of actuators based on the torque command value and the stiffness command value; wherein in case at least one of the driving force command values obtained by the calculation represent a corresponding actuator pushing the link, the control unit executes at least one of increasing the target stiffness and reducing an angular acceleration of the target trajectory.