Patent ID: 8380352
Filing Date: 2013-02-19
Classification: B25J,G05B

Abstract:
1. A robot system comprising: a robot including at least main axes and wrist axes; a first calculator configured to calculate a first velocity error vector of a tip of a tool of the robot, the first velocity error vector being generated as a result of the robot following an external force applied to the tool disposed at an end of the robot; a second calculator configured to output a second velocity error vector, the second velocity error vector including a vector component of the first velocity error vector that has been calculated, the vector component being related to translational movement; a third calculator configured to decompose the second velocity error vector that has been output into a joint velocity vector of the main axes; a fourth calculator configured to calculate a position correction amount vector by integrating the joint velocity vector that has been decomposed; and a position controller configured to generate a position command using the position correction amount vector and to control positions of drive motors of the robot on the basis of the position command.