Robot apparatus and control method therefor
AssigneeToyota Jidosha Kabushiki Kaisha
InventorFukashi Andoh
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Abstract
A robot apparatus includes a robot mechanism having a plurality of joints, and actuators that drive joint axes of the robot mechanism. The robot apparatus includes a robot controller that controls the driving of the actuators based on a cost function that is a function of torque reference inputs for the actuators.
Claims22
A robot apparatus characterized by comprising:
- a robot mechanism having a plurality of joints;
- a plurality of actuators that drive joint axes of the robot mechanism;
- and
- a robot controller that drives the actuators based on a cost function that is a function of torque reference inputs for the actuators.
A control method for a robot apparatus that includes a robot mechanism having a plurality of joints, and a plurality of actuators that drive joint axes of the robot mechanism, to drive the actuators based on a cost, function that is a function of torque reference inputs for the actuators, the control method characterized by comprising
- controlling the actuators based on a cost function that is a function of torque reference inputs for the actuators.
Dependencies are inferred from the claim text.