Patent ID: 9616573
Date: 2017-04-11
CPC Classifications: B25J,G05B,Y10S

Claim:
1. A robot control apparatus that controls a robot configured to include a freely displaceable joint and move an end effector according to a displacement of the joint, comprising: an imager to image a reference position provided on the robot while capturing the reference position and a destination of the reference position in a field of view; a displacement amount detector to detect a displacement amount of the joint; a positional deviation acquirer to acquire a positional deviation from the destination for the reference position based on an imaging result of the imager; an application amount calculator to calculate a first application amount from a result of acquiring a value of integral acquired by performing an integral operation on a value corresponding to the positional deviation for the reference position and a second application amount by performing a proportional operation on a value corresponding to a displacement amount deviation between a detected displacement amount by the displacement amount detector and a target displacement amount which is the displacement amount of the joint when the reference position coincides with the destination, each of said first and second application amount being a force or a torque applied to the joint to displace the joint; and a drive controller to move the reference position to the destination thereof by applying the first application amount and second application amount to the joint.