Patent ID: 7751938

Claim:
A robot arm control device, comprising: an operation procedure information acquisition means for acquiring information on a procedure of a domestic operation including a plurality of processes in which a person and a robot arm cooperate with each other, the domestic operation procedure information including operation information for identifying whether each of the processes is (i) an operation process performed by only the robot arm or (ii) an operation process performed by the person and the robot arm in cooperation with each other; a progress management means for managing information on progress of the domestic operation performed by the person and the robot arm in cooperation with each other, based on the domestic operation procedure information which has been acquired by the operation procedure information acquisition means; a control parameter setting means for setting a control parameter for the robot arm, based on the domestic operation progress information from the progress management means, in such a way as to (i) control the robot arm in a position control mode in a case of the operation process performed by only the robot arm, and to (ii) control the robot arm in a control mode for causing the robot arm to move according to force of the person in a case of the operation process performed by the person and the robot arm in cooperation with each other; and a control means for controlling an operation of the robot arm based on the control parameter set by the control parameter setting means.