Robot control apparatus and robot control method
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United States of America Patent
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Aug 23, 2016
Grant Date -
Jan 9, 2014
app pub date -
Jun 20, 2013
filing date -
Jul 5, 2012
priority date (Note) -
In Force
status (Latency Note)
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Abstract
A robot control apparatus controls a robot arm driven by transmitting drive forces to joints from respective electric motors so that the robot arm follows a specified trajectory, based on an instruction value instructed against the electric motors. A movable range of the robot arm is divided into multiple spaces, and constraint conditions including a constraint value of a jerk for each joint, which is determined so that a load torque applied to a transmitting component of the drive force falls within an allowable range in the multiple spaces, is calculated in advance. The constraint conditions are stored in a storage unit. A calculating unit generates the instruction values for the electric motors based on the trajectory by solving an optimization problem that uses the constraint conditions stored in the storage unit as an inequality constraint.
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