发明申请
US20140107843A1 ROBOT, ROBOT CONTROL APPARATUS, ROBOT CONTROL METHOD, AND ROBOT CONTROL PROGRAM
有权
机器人，机器人控制装置，机器人控制方法和机器人控制程序
- 专利标题： ROBOT, ROBOT CONTROL APPARATUS, ROBOT CONTROL METHOD, AND ROBOT CONTROL PROGRAM
- 专利标题（中）： 机器人，机器人控制装置，机器人控制方法和机器人控制程序
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申请号： US14134470申请日： 2013-12-19
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公开(公告)号： US20140107843A1公开(公告)日： 2014-04-17
- 发明人: Yasunao OKAZAKI
- 申请人： Panasonic Corporation
- 申请人地址： JP Osaka
- 专利权人： Panasonic Corporation
- 当前专利权人： Panasonic Corporation
- 当前专利权人地址： JP Osaka
- 优先权： JP2012-117370 20120523
- 主分类号： B25J9/16
- IPC分类号： B25J9/16
摘要：
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.