Patent ID: 8676379
Filing Date: 2014-03-18
Classification: B25J,G05B

Abstract:
1. A control device for controlling a multiple joint robot arm having at least two links, a first joint portion and a second joint portion, the control device comprising: an impact position acquisition means for acquiring an impact position at which the multiple joint robot arm comes into contact with a person or a movable object; and an impact countermeasure motion control means for controlling the multiple joint robot arm to perform an impact countermeasure motion, the impact countermeasure motion making a stiffness of one joint portion of the first joint portion and the second joint portion, which is closer to a base portion than a link, of the at least two links, to which the impact position belongs, lower than a stiffness of another joint portion of the first joint portion and the second joint portion, based on the acquired impact position at which the multiple joint robot arm comes into contact with the person or the movable object, wherein the impact countermeasure motion control means controls the multiple joint robot arm to perform the impact countermeasure motion by one of (i) maintaining a stiffness of the another joint portion of the first joint portion and the second joint portion, closer to a wrist portion than the link, of the at least two links, to which the impact position belongs, and (ii) providing additional stiffness to the another joint portion closer to the wrist portion than the link, of the at least two links, to which the impact position belongs,