Patent ID: 7747351
Filing Date: 2010-06-29
Classification: B25J,G05B

Abstract:
1. A control device for a robot arm, the device comprising: a working posture information acquiring means for acquiring working posture information on a working posture of a person cooperating with the robot arm when the person and the robot arm transport an object in cooperation with each other; a degree-of-danger calculating means for calculating a degree of danger caused when the person is transporting the object, based on the working posture information acquired by the working posture information acquiring means; a rigidity control means for controlling rigidity of the robot arm so as to be increased as the degree of danger calculated by the degree-of-danger calculating means becomes greater; and an impedance setting means for setting a mechanical impedance set value of the robot arm to a greater value as the degree of danger calculated by the degree-of-danger calculating means becomes greater, wherein the rigidity control means controls the mechanical impedance value of the robot arm to the mechanical impedance set value set by the impedance setting means, and the impedance setting means individually sets mechanical impedance set values in six dimensional directions including translation directions and a rotating direction of a hand position of the robot arm, based on the degree of danger upon transporting the object, and also respectively sets the mechanical impedance set values such that, by making the rigidity in the rotation direction higher than the rigidity in the translation direction of the hand position based on the degree of danger upon transporting the object, the object being transported by the robot arm is horizontally maintained.