Patent ID: 8175750
Filing Date: 2012-05-08
Classification: B25J,G05B

Abstract:
1. A control apparatus for a robot arm controlling a motion of the robot arm, comprising: a motion information acquiring unit that acquires motion information, from a motion information database having stored therein as the motion information in a time-oriented manner at least one of a position, an orientation, and a speed of the robot arm as being corresponding to the motion; a correction motion information acquiring unit that acquires correction motion information corresponding to at least one piece of the motion information included in the motion information acquired by the motion information acquiring unit, when a person corrects the motion of the robot arm by manipulating the robot arm; an environment information acquiring unit that acquires environment information being information as to an object on which the robot arm acts upon, in accordance with an environmental change reporting manipulation of the person to the robot arm; a position control unit that controls the robot arm in a position control mode, such that the robot arm is shifted based on the motion information acquired by the motion information acquiring unit; a motion correction unit that corrects the motion information in accordance with the correction motion information at each time acquired by the correction motion information acquiring unit while the robot arm is shifting in the position control mode under control of the position control unit; and a control rule generating unit that generates a control rule for allowing the robot arm to automatically operate, by determining the environment information to be acquired by the environment information acquiring unit in accordance with the environmental change reporting manipulation of the person to the robot arm, and by associating the motion information corrected by the motion correction unit and the environment information acquired by the environment information acquiring unit with each other, wherein the motion of the robot arm is controlled based on the control rule generated by the control rule generating unit while referring to the environment information acquired by the environment information acquiring unit.