Patent ID: 8725295

Claim:
A robot control method, comprising: acquiring an external force by an external force acquiring unit arranged at a multi joint robot arm; storing in an impedance map storage unit, as an impedance map, a reference distribution of impedance parameters, the reference distribution of the impedance parameters associating positions of an arm end of the multi joint robot arm shifting in accordance with an operation of the multi joint robot arm with the impedance parameters including inertia, damping, and stiffness at each of the positions; changing, by an impedance map variable unit executed by a computer and in accordance with information of a current position of the arm end of the multi joint robot arm, a distribution of the impedance parameters at one of a pre-position and a post-position relative to the position performing an operation of the multi joint robot arm with reference to the reference distribution of the impedance parameters in the impedance map; and exerting impedance control, by an impedance control unit, over the multi joint robot arm based on the external force acquired by the external force acquiring unit and the distribution of the impedance parameters changed by the impedance map variable unit.