Robot control system, robot system, and sensor information processing apparatus
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United States of America Patent
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Oct 11, 2016
Grant Date -
Apr 23, 2015
app pub date -
Jan 6, 2015
filing date -
Nov 7, 2011
priority date (Note) -
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Abstract
A robot control system includes a force control unit configured to output a correction value of a target track of a robot on the basis of sensor information acquired from a force sensor, a target-value output unit configured to apply correction processing based on the correction value to the target track to calculate a target value and output the calculated target value, and a robot control unit configured to perform feedback control of the robot on the basis of the target value. The force control unit includes a digital filter unit. The force control unit applies digital filter processing by the digital filter unit to the sensor information to calculate a solution of an ordinary differential equation in force control and outputs the correction value on the basis of the calculated solution.
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