PURPOSE:To make a robot execute an operation of a higher level for coping exactly with the contents of a work and a variation of the environment, by inputting not only a target track but also external information such as the work environment, etc., and determining a control input to the robot, based on a virtual internal model and a real track. CONSTITUTION:To a virtual internal model arithmetic part 11, not only a target track (xr) but also, for instance, external information (us) of the work environment, etc., which has been detected by a sensor, etc., attached to a robot 13 are given as inputs. A servo-controller 12 allows a real track (x) to follow an output (xm) of the virtual internal model arithmetic part 11. Also, a command 14 given to the servo-controller 12 from the virtual internal model arithmetic part 11 contains not only the output (xm) of a virtual internal model, but also all states of the virtual internal model and inputs (xm, um), etc., and the serve-controller 12 is constituted so that the real track (x) can follow the output (xm) of the virtual internal model without being delayed.
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