Robot controller, robot system, robot control method

A robot controller comprising:

• a force control unit including a nonlinear convertor and an impedance processor, the force control unit receiving a detected sensor value from a force sensor and outputting a correction value of a target track of a robot based on the detected sensor value;
• a target value calculator determining a target value by performing correction processing on the target track based on the correction value;
• and
• a robot operator controlling the robot based on the target value and feedback signals from the robot, wherein the robot operator outputs control signals to the robot,
• wherein the nonlinear convertor performs nonlinear conversion processing on the detected sensor value acquired from the force sensor and outputs the detected sensor value after the nonlinear conversion processing, and
• wherein the impedance processor includes a digital filter that obtains the correction value based on the detected sensor value after the nonlinear conversion processing by the nonlinear convertor, and outputs the obtained correction value to the target value calculator.

A robot control method comprising:

• receiving a detected sensor value from a force sensor;
• performing, by a digital filter, a digital filter processing on the detected sensor value;
• determining a correction value before conversion processing used for correction processing of a target track of a robot based on the detected sensor value after the digital filter processing;
• determining the correction value after the conversion processing by performing nonlinear conversion processing on the obtained correction value before the conversion processing;
• performing the correction processing on the target track of the robot to obtain a target value based on the obtained correction value after the conversion processing;
• and
• controlling the robot based on the obtained target value and feedback signals received from the robot.

A robot control method comprising:

• receiving a detected sensor value from a force sensor;
• performing nonlinear conversion processing on the detected sensor value acquired from the force sensor to obtain the detected sensor value after conversion processing used for correction processing of a target track of a robot;
• determining, by a digital filter, a correction value based on the obtained detected sensor value after the conversion processing;
• determining a target value by performing the correction processing on the target track of the robot based on the obtained correction value;
• and
• controlling the robot based on the obtained target value and feedback signals received from the robot.