Title:
ROBOT CONTROL DEVICE AND ROBOT CONTROL METHOD
Document Type and Number:
WIPO Patent Application WO/2020/184203
Kind Code:
A1
Abstract:
The present invention is provided with: a main control unit (11) which calculates a torque command value for each joint and a command value of a position and orientation control on the basis of a force command value, a position and orientation command value, and the current angle value for each joint included in the robot (2); and a joint control unit (12) which is provided at each joint included in the robot (2), and calculates a command value for a motor (21) provided to each corresponding joint on the basis of the current torque value at the corresponding joint, and the torque command value and command value of the position and orientation control calculated by the main control unit (11).
Inventors:
TABARU TETSUYA (JP)
Application Number:
PCT/JP2020/008100
Publication Date:
September 17, 2020
Filing Date:
February 27, 2020
Export Citation:
Assignee:
AZBIL CORP (JP)
International Classes:
B25J9/10; B25J13/08
Foreign References:
| JPH03214303A | 1991-09-19 | |||
| JPH10230493A | 1998-09-02 | |||
| JPH0623682A | 1994-02-01 | |||
| JP2017158417A | 2017-09-07 |
Attorney, Agent or Firm:
TAZAWA, Hideaki et al. (JP)
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