Provided are a multi-joint robot arm, a manipulation force acquiring unit that acquires a manipulation force from a person, the manipulation force acquiring unit disposed on the multi-joint robot arm, an external force acquiring unit that acquires an external force to be applied to a gripped object, the external force acquiring unit disposed on the multi-joint robot arm, an impedance controller that performs impedance control on the multi-joint robot arm based on the manipulation force acquired by the manipulation force acquiring unit and a set impedance parameter, and an assist force correcting unit that corrects a force component vertical to the resistance force of an assist force generated by the impedance controller according to the resistance force generated by friction caused by contact between the gripped object and an external environment.
Robot, robot control apparatus, robot control method, and robot control program
2015-08-11
Patent
Elektronische Ressource
Englisch
ROBOT CONTROL SYSTEM, ROBOT CONTROL METHOD, AND PROGRAM
Europäisches Patentamt | 2024
|ROBOT CONTROLLER, ROBOT CONTROL SYSTEM, AND ROBOT CONTROL METHOD
Europäisches Patentamt | 2019
|TRAVELING ROBOT, TRAVELING ROBOT CONTROL METHOD, AND PROGRAM
Europäisches Patentamt | 2020
|FLIGHT TYPE ROBOT, FLIGHT TYPE ROBOT CONTROL PROGRAM AND FLIGHT TYPE ROBOT CONTROL METHOD
Europäisches Patentamt | 2022
|