Robot joint position controller has temporary target positioner which drives joint of robot to virtual position when reaction force that drives joint of robot exceeds predetermined limiting value

摘要

Position compensator (20) sets up position correcting value to be added to reaction force which drives joint of robot to target position, when reaction force detected by anti-force detector (18) is less than preset limiting value. Temporary target positioner (24) computes correcting value such that the reaction force drives robot joint to virtual position, when detected reaction force exceeds preset value.