Flexible control device and flexible method of controlling a manipulator

摘要

PROBLEM TO BE SOLVED: To reduce an integral gain of a feedback compensation operation according to the state and stabilizing an operation in a flexible control device for a manipulator.;SOLUTION: In the flexible control device for the manipulator 1 equipped with a force detection means 2 and a position detection means 3 for each joint, the deviation between a target position of the joint and the position detected by the position detection means 3 is made to be an input, the operation multiplying the deviation by a first gain value, and the operation multiplying an integrated deviation by a second gain value are performed in parallel. The flexible control device is equipped with an operation part adding their operation result, compares the value converting the output of the operation part to a torque command to the joint with a predetermined threshold value, and reduces the second gain value when the torque command becomes the value not less than the threshold value.;COPYRIGHT: (C)2007,JPO&INPIT