Patent ID: 7212886
Filing Date: 2007-05-01
Classification: B25J,G05B

Abstract:
1. A robot control apparatus having a position and speed control system for each axis of a robot in order to control a servo motor for driving the axis, comprising: an angle measuring device for measuring a joint angle in relation to a joint coordinate system of the servo motor; a motion torque calculating section for calculating a motion torque command which is required for a motion of the servo motor based on a joint command; a disturbance torque estimating section for calculating a disturbance torque from a position and speed torque command calculated by the position and speed control system and the motion torque command; a minute displacement relationship calculating section for calculating a minute displacement relationship between a task coordinate system of the robot and a joint coordinate system of the servo motor based on the joint angle; an external force calculating section for carrying out a conversion to an external force on the task coordinate system by using the disturbance torque and the minute displacement relationship; a force control section for calculating a position correction amount on the task coordinate system of the robot based on the external force; and a joint angle correction amount calculating section for carrying out a conversion to a joint angle correction amount on the joint coordinate system by using the position correction amount and the minute displacement relationship.