Patent ID: 6212443
Filing Date: 2001-04-03
Classification: G05B

Abstract:
An apparatus for direct teaching of a robot by using a force detector and a teaching tool composed of one of a working tool and an exclusive handle which is fixed to said force detector and held by an operator for leading the robot, comprising:a motion model operation unit configured to compute one of a position and a speed directive based on information outputted from said force detector and a motion model for inertia and viscosity of an arm;a device configured to change a limit of a torque directive of a robot driving motor calculated and based on one of said position and said speed directive;a computation device configured to calculate a friction compensation torque which acts on a driving portion of each articulation of said robot;a computation device configured to calculate a gravity compensation torque which works on each articulation shaft of said robot; andan adder configured to add a sum of the compensation torque of said friction and the compensation torque of said gravity to the torque directive after the torque is limited by the device configured to change the limit of said torque directive.