Robot control apparatus, robot control method, program, recording medium and robot system
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United States of America Patent
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Apr 11, 2017
Issued Date -
N/A
app pub date -
May 23, 2013
filing date -
May 25, 2012
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Abstract
An end effector can be removed to a target position and calibration loads can be reduced, even if there is an error in a kinematic operation in a robot main body and/or cameras. A positional deviation integral torque obtained by integrating a value corresponding to a positional deviation is applied to joints while being superimposed with torques based on angular deviations. If movements of the joints stop or are about to stop before the end effector reaches a target position due to an error in a kinematic operation, the positional deviation integral torque increases with time, to move said joints and move the end effector to the target position. Thus, the end effector can be reliably moved to the target position by the positional deviation integral torque, and calibration loads can be reduced.
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