Patent ID: 6317653
Filing Date: 2001-11-13
Classification: B25J,G05B

Abstract:
A robot control system comprising:a reaction force detecting means for detecting a reaction force acting on a working end of a robot;a position correcting means for setting a position correcting amount corresponding to the reaction force detected by said reaction force detecting means;an adding means for producing a target position by adding said position correcting amount obtained by said position correcting means to a given provisional target position;a provisional target position correcting means for obtaining a virtual position of said working end of said robot based on a present target position generated from said adding means, said virtual position being a position where the reaction force detected by said reaction force detecting means becomes equal to a predetermined limit value;a switching means for sending said virtual position obtained by said provisional target position correcting means to said adding means instead of sending said given provisional target position when the reaction force detected by said reaction force detecting means exceeds a predetermined value smaller than said limit value;a position detecting means for detecting a present position of each articulated joint of said robot; andan actuating means for feedback controlling said articulated joint of said robot to shift said working end of said robot to said target position based on said position detected by said position detecting means.