Patent ID: 6127792
Filing Date: 2000-10-03
Classification: B25J

Abstract:
A control apparatus for a robot including a joint, comprising:position calculation means for, in cases where every sampling time has elapsed, calculating a position of the joint which will occur at a moment of end of a next sampling time on the basis of a speed pattern;torque calculation means for calculating a drive torque designed to move the joint to the position calculated by the position calculation means;sampling time change means for, in cases where the drive torque calculated by the torque calculation means exceeds a predetermined limit value, calculating a speed change ratio designed to reduce the drive torque, and calculating a corrected sampling time on the basis of the calculated speed change ratio, the corrected sampling time being shorter than a normal sampling time;means for, in cases where the drive torque calculated by the torque calculation means does not exceed the predetermined limit value, setting the position calculated by the position calculation means as a command position and controlling the joint to move to the command position after a predetermined unit control time elapses; andmeans for, in cases where the drive torque calculated by the torque calculation means exceeds the predetermined limit value, enabling the position calculation means to calculate a position of the joint while using the corrected sampling time calculated by the sampling time change means as the next sampling time, and setting the position calculated by the position calculation means as a command position and controlling the joint to move to the command position after the predetermined unit control time elapses.