Patent ID: 8155790
Filing Date: 2012-04-10
Classification: B25J,G05B

Abstract:
1. A robot control apparatus controlling a robot having a joint shaft and a drive shaft transmitting a drive force from an actuator to the joint shaft, comprising: an angle detection unit configured to detect an angle of the drive shaft; a angle calculation unit configured to calculate an angle of the joint shaft from the angle of the drive shaft; a position calculation unit configured to calculate a tip end position of the robot from the angle of the joint shaft; a command value creation unit configured to create a position command value of the tip end position; an error calculation unit configured to calculate an error between the tip end position and the position command value; a difference calculation unit configured to calculate a joint angle difference from the error by inverse kinematic calculation; a command value calculation unit configured to calculate a torque command value by integrating the joint angle difference; a drive unit configured to drive the actuator based on the torque command value; a drive torque estimation unit configured to estimate a drive torque for driving the actuator from the angle of the joint shaft; an external torque calculation unit configured to calculate a difference between the estimated drive torque and the torque command value as an external torque; a Jacobian matrix calculation unit configured to calculate a Jacobian matrix between a task coordinate system and a joint coordinate system of the robot based on the angle of the joint shaft; an external force calculation unit configured to calculate an external force acting the tip end position from the Jacobian matrix and the external torque; a compliance model memory configured to store a compliance model in the tip end position; and a correction amount calculation unit configured to calculate a correction amount for the position command value corresponding to the external force using the compliance model, and configured to changes gain for the compliance model from the Jacobian matrix.