Patent ID: 9102054
Filing Date: 2015-08-11
Classification: B25J,B66C,G05B,Y10S

Abstract:
1. A control apparatus for a robot having a multi-joint robot arm, the control apparatus comprising: a manipulation force acquiring unit disposed on the multi-joint robot arm, that acquires a manipulation force from a person; a resistance force acquiring unit disposed on the multi-joint robot arm, that acquires a resistance force generated by friction caused by contact between a gripped object and an external environment when a motion of raising the gripped object is conducted with one side of the gripped object with respect to the external environment as a rotation center while the contact between the gripped object gripped by the multi-joint robot arm and the external environment is maintained; an impedance controller that performs impedance control on the multi-joint robot arm based on the manipulation force acquired by the manipulation force acquiring unit and a set impedance parameter; and an assist force correcting unit that corrects a force component vertical to a horizontal component of the resistance force of an assist force generated by the impedance controller according to the resistance force acquired by the resistance force acquiring unit so that a friction force caused by the contact between the gripped object and the external environment does not exceed a maximum static friction force when the motion of raising the gripped object is conducted.