PURPOSE: To stably contact with a hard object for operation so as to operate by preparing the position command of a slave arm from the position coordinate value of a master arm concerning a position control direction meeting at right angles with a force control direction at a contact mode, and hybrid-controlling position and force for controlling the position of the slave arm.
CONSTITUTION: At a contact mode, torque of each joint is computed by a position/posture control computing part 31 similarly to a non-contact mode, while setting the Z-axis component of positional deviation ΔP to be zero. Because S is not zero-matrix, a force target value Fref, the force control computing part 32 of a slave arm, and also the force control direction selecting part 34 of the slave arm are used. While the force deviation ΔF being zero except the component in Z direction is set to be input of the force control computing part 32, each joint torque necessary for making ΔF zero is computed. Torque respectively computed by the position/posture control computing part 31 and the force control computing part 32 are added to them and they are output to the slave arm 11. Hereby, generated vibration is quickly restrained so as to stably operate a contact work.
TAKADA RYOHEI
MARUMOTO SEIICHI
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