Robot control apparatus for force control

Abstract

A robot control apparatus for controlling force exerted between a working tool mounted at the forward end of a robot arm and a workpiece is disclosed. The apparatus includes a force measuring unit for acquiring the force data required for the control operation, a calculating unit for calculating the force exerted by gravity on the force measuring unit and the dynamic terms generated by the motion of the robot arm, of all the forces exerted on the force measuring unit from the working tool, a compensation unit for compensating the force measured by the force measuring unit using the force exerted by gravity and the dynamic terms calculated by the calculating unit, and a command adjusting unit for adjusting the operation command for the robot arm in accordance with the force exerted on the force measuring unit by the dynamic terms and gravity in the case where each of the dynamic terms is larger than a predetermined threshold value. As a result, the workpiece can be accurately machined even in the case where the forward end portion of the robot arm is changed a comparatively great degree in the direction of movement thereof.

Dependencies are inferred from the claim text.