公开(公告)号：US20140379131A1

公开(公告)日：2014-12-25

申请号：US14143968

申请日：2013-12-30

Applicant: GWANGJU INSTITUTE OF SCIENCE AND TECHNOLOGY

Inventor： Je Ha RYU ,  Sehun KIM

IPC: B25J9/16

CPC classification number: B25J9/1633 ,  G05B2219/39338 ,  Y10S901/09

Abstract: The present invention relates to a control method and device for position-based impedance controlled industrial robot, and more particularly, a control method and device for position-based impedance controlled industrial robot able to improve contact stabilization with regard to an environment with a variety of stiffness.According to a control method and device for position-based impedance controlled industrial robot in accordance with the present invention, a robust contact stabilization for a position-based impedance controlled industrial robot contacting and interacting with an uncertain actual environment may be guaranteed.

Abstract translation: 本发明涉及一种用于基于位置的阻抗控制的工业机器人的控制方法和装置，更具体地，涉及一种用于基于位置的阻抗控制的工业机器人的控制方法和装置，其能够改善关于具有各种各样的环境的接触稳定性 刚性。 根据本发明的基于位置阻抗控制的工业机器人的控制方法和装置，可以保证基于位置的阻抗控制工业机器人与不确定的实际环境接触和相互作用的鲁棒接触稳定。