Patent ID: 8509950

Claim:
A control apparatus for a robot comprising a joint, the control apparatus comprising: a control apparatus computer configured to operate as: a dynamics parameter acquisition unit that acquires a plurality of dynamics parameters for the robot and an object gripped by the robot; a desired joint torque output unit that outputs, as a desired joint torque, a desired value of torque of the joint of the robot; a dynamics parameter switching unit that switches between the plurality of dynamics parameters acquired by the dynamics parameter acquisition unit; a desired joint torque output limiting unit that limits an output of the desired joint torque from the desired joint torque output unit after the dynamics parameter switching unit switches between the dynamics parameters; and a limit cancellation unit that cancels a limitation by the desired joint torque output limiting unit, wherein, immediately after the dynamics parameters are switched, the desired joint torque output limiting unit maintains the output of the desired joint torque from the desired joint torque output unit to a value immediately before the dynamics parameters are switched.