Patent ID: 7558647

Claim:
A robot arm controlling device comprising: an object property database in which information associated with a conveyance property of an object being conveyed by the robot arm is recorded; an object property collecting means for collecting information associated with the conveyance property of the object being conveyed by the robot arm, and recording the collected information associated with the conveyance property of the object in the object property database; an object property-concordant impedance setting means for setting a mechanical impedance set value of the robot arm based on the information of the object property database; and an impedance controlling means for controlling a mechanical impedance value of the robot arm to the mechanical impedance set value set by the object property-concordant impedance setting means; wherein the object property-concordant impedance setting means individually sets mechanical impedance set values in six-dimensional directions in a translational direction and a rotational direction of an end effector of the robot arm based on the information of the object property database, and sets to horizontally maintain the object being conveyed by the robot arm with a stiffness of the end effector in the rotational direction being higher than a stiffness of the end effector in the translational direction.