公开(公告)号：US20230249339A1

公开(公告)日：2023-08-10

申请号：US18164627

申请日：2023-02-06

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Keita SHIMAMOTO ,  Toshiyuki MURAKAMI

IPC: B25J9/16

CPC classification number: B25J9/1607 ,  B25J9/1653 ,  B25J9/1633

Abstract: A robot control system includes circuitry configured to: acquire velocity of a robot in a working space in which the robot processes a workpiece based on a force control axis and a position control axis, the velocity being along the force control axis; select an equivalent mass matrix representing a relationship between acceleration and force in the working space, based on the acquired velocity, from a first equivalent mass matrix corresponding to the velocity being zero and a second equivalent mass matrix corresponding to the velocity not being zero; and generate a control signal for controlling the robot based on the selected equivalent mass matrix.