ROBOT CONTROL DEVICE AND ROBOT CONTROL METHOD FOR GENERATING CONSISTENT MOTION INCLUDING CONTACT AND FORCE CONTROL

摘要

The present invention relates to a robot control device and a robot control method and, more specifically, to a robot control device and a robot control method for controlling the contact state and force of a robot on an object. The robot control device according to an embodiment of the present invention comprises: a position control command part for generating position control commands based on the current position and the target position of a robot part to be in contact; a contact state determination part for determining whether or not the robot and the object are in contact; and a force control command part for controlling the force applied to the object when the robot is in contact with the object.;COPYRIGHT KIPO 2014;[Reference numerals] (110) Position control command part; (120) Force control command part; (130) Contact state determination part; (140) Joint position detecting part; (150) Object position detecting part