Position and/or force controlling apparatus using sliding mode decoupling control

A position and/or force controlling apparatus using a sliding mode decoupling control for controlling at least one of a position and a frictional force through a robot having at least one articulation, comprising:

• a control object controlled and designed in advance on the basis of an equation of motion in an operation coordinate system of the robot in which the equation of motion in an articulation coordinate system of the robot is converted from the articulation coordinate system to the operation coordinate system by a Jacobian matrix;
• sliding mode decoupling controlling means for compensating for a non-linearity inherent in the robot on the basis of at least one of errors between a target value of a force in the operation coordinate system and a detection value of a force and errors between a target value of a position in the working coordinate system and a detection value of the position;
• articulation torque calculating means for calculating articulation torque values of the robot on the basis of a control input signal obtained by the robot on the basis of a control input signal obtained by the sliding mode decoupling controlling means;
• and articulation drive means for driving each articulation on the basis of each articulation torque value calculated by the articulation torque calculating means.