Control apparatus of robot

Abstract

A robot control apparatus capable of largely reducing a calculation amount to be capable of lowering a load of a CPU is provided. A control apparatus of a robot includes: a plurality of shafts interfering with each other; each of the shafts including a motor (8), (18), an arm (9), (19) coupled to the motor (8), (18) via a spring element such as a speed reducer and a motor position detector (10), (20) for detecting a position of the motor (8), (18); a position control unit (1), (11) and a speed control unit (2), (12) in order to operate each of the shafts in correspondence with an instruction for each of the plural shafts; an interference force calculating unit (7), (17) for calculating interference force which is exerted to another shaft from an instruction of the own shaft; a non-interference torque signal forming unit (6), (16) for forming a motor torque instruction signal by which the own shaft is operated in correspondence with the instruction also in such a case that interference force exerted from another shaft is present based upon the calculation value of the interference force exerted from another shaft, and the instruction of the own shaft; and a non-interference position signal producing unit (5), (15) for producing a motor position signal by which the own shaft is operated in correspondence with the instruction also in such a case that interference force executed from another shaft is present based upon the calculation value of the interference force exerted from another shaft, and the instruction of the own shaft.

Dependencies are inferred from the claim text.