Patent ID: 7433758
Filing Date: 2008-10-07
Classification: B25J,G05B

Abstract:
1. A control apparatus of a robot comprising: a plurality of shafts interfering with each other; each of the shafts including a motor, an arm coupled to the motor via a spring element such that a speed reducer and a motor position detector for detecting a position of the motor; a position control unit and a speed control unit in order to operate each of the shafts in correspondence with an instruction for each of the plural shafts; an interference force calculating unit for calculating interference force which is exerted to another shaft from an instruction of an own shaft; a non-interference torque signal forming unit for forming a motor torque instruction signal by which the own shaft is operated in correspondence with the instruction also in such a case that interference force exerted from another shaft is present based upon the calculation value of the interference force exerted from another shaft, and the instruction of the own shaft; and a non-interference position signal producing unit for producing a motor position signal by which the own shaft is operated in correspondence with the instruction also in such a case that interference force executed from another shaft is present based upon the calculation value of the interference force exerted from another shaft, and the instruction of the own shaft.