Robot control apparatus, robot system, and robot control method
AssigneeSeiko Epson Corporation
InventorMasaki Motoyoshi
Life of this patent
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Abstract
In order to stabilize control of a driving section, a robot control apparatus includes a control section that acquires a driving position of the driving section that drives a robot and an operation force that is a force operating on the robot, and performs first control of the driving section based on the driving position and second control of the driving section based on the operation force; and a changing section that changes a size of servo stiffness of the robot that is realized by the control of the control section.
Claims11
A robot control apparatus for controlling a robot having at least one servo motor, the robot control apparatus comprising:
- a control section that acquires a driving position of a motor that drives a robot arm and an operation force that is a force operating on the robot arm, and performs a first control of the motor based on the driving position and a second control of the motor based on the operation force;
- and
- a changing section that reduces a servo stiffness of the motor in a control operation in which the control section performs both the first control and the second control at the same time, wherein the change in servo stiffness is realized by the control of the control section.
A robot system comprising:
- a driving section that drives a servo motor of a robot;
- a force detector that detects an operation force that is a force operating on the robot;
- a control section that performs first control of the driving section based on a driving position of the driving section and second control of the driving section based on the operation force;
- and
- a changing section that reduces a servo stiffness of the servo motor in a control operation in which the control section performs both the first control and the second control at the same time, wherein the change in servo stiffness is realized by the control of the control section.
A robot control method comprising:
- acquiring a driving position of a motor driving a robot and an operation force that is a force operating on the robot by a control section;
- performing first control of the motor based on the driving position and second control of the motor based on the operation force;
- and
- reducing a servo stiffness of the motor during performance of both the first control and the second control at the same time.
Dependencies are inferred from the claim text.