Robot controller

A control apparatus of a robot comprising:

• means for switching between a position control and a compliance control during an operation of the robot;
• wherein when a switch is made to thc position control from the compliance control, a present position is handled as a position reference.

A compliance control apparatus of a robot which comprises a control system of a servo motor of the robot having a position control loop and a speed control loop, comprising:

• means for comparing a difference between a target angle of a position and a present angle of a servo motor with a setting value;
• and
• means for stopping, a movement of said servo motor based on a comparing result.

A compliance control apparatus of a robot which comprises a control system of a servo motor of the robot having a position control loop and a speed control loop, comprising:

• means for comparing a difference between a target angle of a position and a present angle of a servo motor with a predetermined fixed angular deviation quantity threshold, and
• means for outputting a comparing result from the compliance control apparatus of a robot to a peripheral equipment of the compliance control apparatus of a robot.

A compliance control apparatus of a robot which comprises a control system of a servo motor of the robot having a plurality of position control loops and speed control loops, comprising:

• means for comparing a difference between a target value in a working coordinate system and a present value in a working coordinate system obtained from a present value of said servo motor with a predetermined fixed positional deviation quantity threshold and a predetermined fixed posture deviation quantity threshold;
• and
• means for stopping a movement of said servo motor based on a comparing result.

A compliance control apparatus of a robot which comprises a control system of a servo motor of the robot having a plurality of position control loops and speed control loops, comprising:

• means for comparing a difference between a target value in a working coordinate system and a present value in a working coordinate system obtained from a present value of said servo motor with a predetermined fixed positional deviation quantity threshold and a predetermined fixed posture deviation quantity threshold;
• and
• means for outputting a comparing result from the compliance control apparatus of a robot to a peripheral equipment of the compliance control apparatus of a robot.

A compliance control apparatus of a robot which comprises a control system of a servo motor to drive a joint portion of the robot, having a position control loop and a speed control loop, comprising:

• means for changing a position control gain and a speed control gain;
• and
• means for lowering said position control gain and said speed control gain based on reference information concerning a position, a speed and a direction, sensor information of an encoder attached to a robot, and a computation result using said information.

A compliance control apparatus of a robot which comprises a control system of a servo motor to drive a joint portion of the robot having a position control loop and a speed control loop, comprising:

• means for limiting a torque reference that is an addition result of outputs of a proportional control and an integrator;
• and
• means for changing the means for limiting said torque reference based on instruction information concerning a position, a speed and a direction, sensor information of an encoder attached to a robot, and a computing result using said information.