Robot control apparatus and method

Details Robot control apparatus and method Robot control apparatus and method

2007-05-01

2007-05-01

Black, Thomas (Department: 3661)

Data processing: generic control systems or specific application

Specific application, apparatus or process

Robot control

C700S246000, C700S247000, C700S249000, C700S253000, C700S260000, C318S568120, C318S568180, C318S568190, C901S001000

Reexamination Certificate

active

10735241

ABSTRACT:
A robot control apparatus including a motion torque calculating section for calculating a motion torque command which is required for a motion of a servo motor, a disturbance torque estimating section for calculating a disturbance torque, a minute displacement relationship calculating section for calculating a minute displacement relationship between a task coordinate system of a robot and a joint coordinate system of the servo motor, an external force calculating section for carrying out a conversion to an external force on the task coordinate system, a force control section for calculating a position correction amount on the task coordinate system of the robot, and a joint angle correction amount calculating section for carrying out a conversion to a joint angle correction amount on the joint coordinate system.

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