Robot control system
AssigneeHonda Motor Co., Ltd.
InventorTaizo Yoshikawa
Life of this patent
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Abstract
A robot control system is a robot control system that controls a robot in a space where the robot is not in contact with a ground, and includes: a robot body; an arm connected to the robot body; a position acquisitor that acquires an arm origin set in a vicinity of a point at which the arm is connected to the robot body and a position of an arm distal end portion which is a distal end of the arm; and a position command calculator that defines a constraint model set between the arm origin and the arm distal end portion, calculates a constraining force generated according to a change in a distance between the arm origin and the arm distal end portion from the constraint model, and calculates a position command of the robot body from a value of the constraining force.
Claims11
-10. (canceled)
A robot control system that controls a robot in a space where the robot is not in contact with a ground, the robot control system comprising:
- a robot body;
- an arm connected to the robot body;
- a position acquisitor that acquires an arm origin set in a vicinity of a point at which the arm is connected to the robot body and a position of an arm distal end portion which is a distal end of the arm;
- and
- a position command calculator that defines a constraint model set between the arm origin and the arm distal end portion, calculates a constraining force generated according to a change in a distance between the arm origin and the arm distal end portion from the constraint model, and calculates a position command of the robot body from a value of the constraining force.
Dependencies are inferred from the claim text.