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1. (WO2011161765) ROBOT CONTROL DEVICE 


IPC:  B25J 13/08 B25J 9/22 

Applicants:  KABUSHIKI KAISHA TOSHIBA 株式会社 東芝 OOGA Junichiro 大賀 淳一郎 OAKI Junji 大明 準治 OGAWA Hideki 小川 秀樹 

Inventors:  OOGA Junichiro 大賀 淳一郎 OAKI Junji 大明 準治 OGAWA Hideki 小川 秀樹 
Title:  ROBOT CONTROL DEVICE 
Abstract: 
Provided is a robot control device wherein direct teaching can be provided not only to tips by also to link sections. The robot control device is equipped with an articulation angle difference calculating unit (114) which calculates an articulation angle difference from a position error between a tip position value and a position command value; a torque command value calculating unit (115) which calculates a torque command value from the articulation angle difference; a drive torque estimating unit (106) which estimates the drive torque of an actuator (100); an external torque calculating unit (107) that calculates the difference between the drive torque and the torque command value as an external torque value, and that estimates, from the external torque value, an articulationaxisunderexternalforce whereon an external force acts; a Jacobian matrix calculating unit (105) which calculates a partial Jacobian matrix on the basis of an articulation axis angle, and also calculates a Jacobian matrix; an external force calculating unit (108) which calculates the external force that acts on the articulationaxisunderexternalforce from the partial Jacobian matrix and the external torque; a compliance correction amount calculating unit (110) which uses a compliance model to calculate a compliance correction amount, on the articulationaxisunderexternalforce, with respect to a work coordinate system position, according to the external torque; and an articulation angle difference correction amount calculating unit (111) which calculates an articulation angle difference correction amount from the compliance correction amount and the partial Jacobian matrix. The articulation angle difference correction amount calculating unit calculates a precorrection articulation angle difference from the position error and the Jacobian matrix by means of inverse kinematic calculation, and causes the sum of the articulation angle difference correction amount and the precorrection articulation angle difference to be output as an articulation angle difference.
