Control apparatus of robot, robot, and program thereof
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United States of America Patent
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Jun 13, 2017
Issued Date -
N/A
app pub date -
Feb 5, 2013
filing date -
Feb 16, 2012
priority date (Note) -
In Force
status (Latency Note)
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Abstract
A trajectory along which a robot is driven by an actuator is calculated using a first constraint value. A target value of the robot and a second constraint value are used to calculate a target trajectory of the robot. A deflection correction amount of the robot is calculated. The target trajectory is corrected from the deflection correction amount to calculate a deflection correction trajectory. Performance of the actuator necessary to operate the robot based on the deflection correction trajectory is calculated. It is determined whether a first condition that the actuator performance is within a range of the first constraint value and a second condition that a difference between the first constraint value and the actuator performance is within a range of a predetermined value are satisfied. The deflection trajectory is output to the actuator if it is determined that the first condition and the second condition are satisfied.
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