Robotics apparatus, robot control method, program, and recording medium

A robot control method of controlling a robotics apparatus, wherein the robotics apparatus comprises:

• a first link pivotably connected at a first joint with regard to a base portion;
• a second link pivotably connected at a second joint with regard to the first link;
• a first driving source configured to drive the first link about the first joint;
• a second driving source configured to drive the second link about the second joint;
• a third driving source configured to simultaneously drive the first link about the first joint and the second link about the second joint;
• and
• a control unit configured to respectively control driving forces of the first driving source, a driving force of the second driving source and a driving force of the third driving source, based on a first driving-force command value for the first driving source, a second driving-force command value for the second driving source, and a third driving-force command value for the third driving source,
• wherein the robot control method comprises:
• generating, by the control unit, a first target joint angle for the first joint and a second target joint angle for the second joint based on a target trajectory of a distal end of the second link;
• setting, by the control unit, the third driving-force command value to a predetermined setting value;
• calculating, by the control unit, the first driving-force command value based on the third driving-force command value and the first target joint angle;
• and
• calculating, by the control unit, the second driving-force command value based on the third driving-force command value and the second target joint angle.

A non-transitory computer-readable recording medium comprising a computer program executable on a computer for controlling a robotics apparatus,

• wherein the robotics apparatus comprises:
• a first link pivotably connected at a first joint with regard to a base portion;
• a second link pivotably connected at a second joint with regard to the first link;
• a first driving source configured to drive the first link about the first joint;
• a second driving source configured to drive the second link about the second joint;
• a third driving source configured to simultaneously drive the first link about the first joint and the second link about the second joint;
• and
• a control unit configured to respectively control driving forces of the first driving source, a driving force of the second driving source and a driving force of the third driving source, based on a first driving-force command value for the first driving source, a second driving-force command value for the second driving source, and a third driving-force command value for the third driving source,
• wherein the computer program executes:
• generating, by the control unit, a first target joint angle for the first joint and a second target joint angle for the second joint based on a target trajectory of a distal end of the second link;
• setting, by the control unit, the third driving-force command value to a predetermined setting value;
• calculating, by the control unit, the first driving-force command value based on the third driving-force command value and the first target joint angle;
• and
• calculating, by the control unit, the second driving-force command value based on the third driving-force command value and the second target joint angle.