Patent ID: 8958915
Filing Date: 2015-02-17
Classification: B25J,G05B,Y10S

Abstract:
1. A robot system controlling method for a robot system which comprises a link whose base end is swingably supported by a fixing member, and a pair of actuators connected to the fixing member and the link and adapted to swing the link using a difference between contraction forces, adjusts the contraction forces of the actuators based on respective contraction force command values, and thereby controls operation of the link, the controlling method comprising: performing a deviation calculation to calculate a value which represents a deviation between a swing angle θ performing torque command generation to perform PID control calculations on the value which represents the deviation and thereby generate a torque command value T performing multiplication to calculate a product U performing torque command correction to generate a new torque command value T performing contraction force command value calculations to determine the contraction force command values using calculation formulae (U