Robot controller, robot system, robot control method
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United States of America Patent
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Apr 28, 2015
Grant Date -
Jul 18, 2013
app pub date -
Jan 16, 2013
filing date -
Jan 17, 2012
priority date (Note) -
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Abstract
A robot controller includes a force control unit that outputs a correction value of a target track of a robot based on a detected sensor value acquired from a force sensor, a target value output unit that obtains a target value by performing correction processing on the target track based on the correction value and outputs the obtained target value, and a robot control unit that performs feedback control of the robot based on the target value. The force control unit includes an impedance processor that obtains a solution of a differential equation in force control as the correction value before the conversion processing, and a nonlinear convertor that obtains the correction value after the conversion processing by performing nonlinear conversion processing on the correction value before the conversion processing acquired from the impedance processor and outputs the obtained correction value after the conversion processing.
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