JP7300854B2 - ROBOT CONTROL DEVICE AND ROBOT CONTROL METHOD - Google Patents

Description

The present invention relates to a robot control device and a robot control method capable of simultaneously controlling the position/orientation and force of a robot.

A robot (robot arm) such as a vertical multi-joint robot uses a robot control device that simultaneously (parallelly) controls a position/orientation and a force (see, for example, Patent Document 1). Note that the position and orientation represent at least one of the position and orientation of the robot. 9 to 11 show an example of the robot control device 1b.

A robot control device 1b shown in FIG. 9 includes a main controller (upper controller) 11b and a plurality of joint controllers (lower controllers) 12b. The joint controller 12b is provided for each joint that the robot 2 has. A communication line connects between the main controller 11b and each joint controller 12b.

Further, as shown in FIG. 9, the robot 2 has a motor 21 and a sensor 22 (a torque sensor 23 and an encoder 24) for each joint. Each of the motors 21 and the sensors 22 is connected to the corresponding joint control section 12b by a power line or the like. Torque sensor 23 detects the current value of torque at the corresponding joint. Encoder 24 detects the current value of the angle of the corresponding joint. 10 shows only one set of motor 21, torque sensor 23 and encoder 24. FIG.

The main control unit 11b controls the entire robot 2 by outputting command values to each joint control unit 12b. Specifically, the main control unit 11b controls the speed command value for each joint based on the force command value, the position/orientation command value, and the current torque and angle values for each joint of the robot 2. to calculate As shown in FIGS. 10 and 11, the main control unit 11b includes a force calculation unit 111b, a force control unit 112b, a position/orientation calculation unit 113b, a position/orientation control unit 114b, a command value synthesis unit 115b, and a command value conversion unit 116b. I have.

The force calculation unit 111b calculates the current force value of the robot 2 based on the current torque value of each joint of the robot 2 . The torque of each joint of the robot 2 is expressed in a joint coordinate system, and the force calculation unit 111b converts the torque of each joint into a force expressed in an orthogonal coordinate system. In FIG. 11, τ represents the current value of torque and F represents the current value of force.

The force control unit 112b calculates a force control command value based on the force command value and the current force value calculated by the force calculation unit 111b. In the force control unit 112b, the deviation calculator 1121b obtains the deviation between the force command value and the current force value, and the coefficient multiplier 1122b multiplies the deviation calculated by the deviation calculator 1121b by the gain. Thus, the command value for force control is obtained. In FIG. 11, Fr represents a force command value, and _GF represents a gain.

The position/posture calculation unit 113b calculates the current values of the position/posture of the robot 2 based on the current values of the angles of the joints of the robot 2 . The current values of the angles of the joints of the robot 2 are expressed in the joint coordinate system, and the position/orientation calculation unit 113b converts the current values of the angles of the joints into the current values of the position and orientation expressed in the orthogonal coordinate system. do. In FIG. 11, θ represents the current value of the angle, and X represents the current value of the position and orientation.

The position/posture control unit 114b calculates a command value for position/posture control based on the command value of the position/posture and the current value of the position/posture calculated by the position/posture calculation unit 113b. In the position/posture control unit 114b, the deviation calculator 1141b obtains the deviation between the position/posture command value and the current position/posture value, and the coefficient multiplier 1142b multiplies the calculation result of the deviation calculator 1141b by the gain. By doing so, the command value for the position/attitude control is obtained. In FIG. 11, Xr represents the command value of the position and orientation, and _GZ represents the gain.

The command value synthesizing unit 115b synthesizes the force control command value calculated by the force control unit 112b and the position/attitude control command value calculated by the position/attitude control unit 114b. In the command value synthesizing unit 115b, the adder 1151b adds the command value for the force control and the command value for the position/orientation control.

The command value transforming unit 116b transforms the synthesis result of the command value synthesizing unit 115b into a command value of the angular velocity for each joint of the robot 2. FIG. In command value conversion section 116b, coefficient multiplication section 1161b multiplies the result of synthesis by the inverse matrix of the Jacobian matrix. That is, the command value converter 116b converts the command value represented by the orthogonal coordinate system into the command value represented by the joint coordinate system. In FIG. 11, J represents the Jacobian matrix, and θ (dot) r represents the angular velocity command value.

The joint control section 12b controls the motors 21 provided at the corresponding joints according to commands from the main control section 11b. As shown in FIG. 10, the joint control section 12b includes a torque acquisition section 121b and a joint angle control section 122b.

The torque acquisition unit 121b acquires the current torque value at the corresponding joint. Data indicating the current value of the torque acquired by the torque acquisition section 121b is output to the main control section 11b (force calculation section 111b).

The joint angle control unit 122b calculates a command value for the motor 21 provided at the corresponding joint based on the command value of the angular velocity calculated by the main control unit 11b and the current value of the angle of each joint of the robot 2. . In the joint angle control unit 122b, the speed conversion unit 1221b converts the current value of the angle into the current value of the angular velocity, and the subtractor 1223b subtracts the current value of the angular velocity obtained by the speed conversion unit 1221b from the command value of the angular velocity. A command value for the motor 21 is obtained by performing PI control based on the result of subtraction by the subtractor 1223b in the PI control unit 1224b.

As described above, in the robot control device 1b shown in FIGS. 9 to 11, it is necessary to operate a plurality of joints in cooperation. The results of simultaneously controlling and calculating the position/orientation and force are combined, and the combined results are converted into signals to the joint control unit 12b for each axis and then output. That is, in the robot control device 1b, the main control section 11b executes the main computations of the compliance control. Therefore, the robot control device 1b has merits such as being able to rationally integrate the parameters to be adjusted.

JP 2016-168650 A

In general, robots such as industrial robots are required to perform precise polishing following motions by force control, and improvement in dynamics performance such as settling motions or follow-up motions is always required.
On the other hand, in a conventional robot control device, the main control unit constitutes a feedback system. In other words, in this robot control device, feedback control calculations are performed by components that are physically and communicatively distant from the robot. Therefore, the delay from the detection of the torque by the torque sensor to the input of the command value to the motor becomes longer. As a result, in this robot control device, there is a large amount of room for unavoidable dead time, which is a factor in suppressing high gain that can maintain stability. In addition, the dead time itself is not a factor that can be canceled by lead compensation or the like, so it cannot be avoided that it adversely affects the response time.
As described above, it is difficult to improve the force control performance (especially quick response) in the conventional robot control device, and further improvement is required.

SUMMARY OF THE INVENTION It is an object of the present invention to provide a robot controller capable of improving the performance of force control compared to the conventional configuration.

A robot controller according to the present invention provides a torque command value and a position/posture control command value for each joint based on a force command value, a position/posture command value, and a current angle value for each of a plurality of joints of a robot. and a current value of torque at the corresponding joint, which is provided for each joint of the robot and which is capable of detecting the current value of torque for each joint, and is calculated by the main control unit. a joint control unit for calculating a command value for a motor provided at a corresponding joint based on the torque command value and the position/orientation control command value; It has a torque command value conversion unit that converts to a torque command value for each of a plurality of joints, and the joint control unit is based on the current torque value at the corresponding joint and the torque command value calculated by the main control unit. , a torque control unit for calculating a torque control command value, a torque control command value calculated by the torque control unit, a position/orientation control command value calculated by a main control unit, or a position calculated by the main control unit and a command value synthesizing unit for synthesizing the control command values calculated by the joint angle control unit for calculating the speed, acceleration, current or torque control command values based on the attitude control command values. do.

According to the present invention, since it is configured as described above, it is possible to improve the performance of force control compared to the conventional configuration.

1 is a diagram showing a configuration example of a robot control device according to Embodiment 1; FIG. 1 is a diagram showing a configuration example of a robot control device according to Embodiment 1; FIG. 4 is a flowchart showing an operation example of the robot control device according to Embodiment 1; 4 is a flow chart showing an operation example of a main control unit according to Embodiment 1; 4 is a flow chart showing an operation example of a joint control unit according to Embodiment 1. FIG. 6A and 6B are diagrams for explaining the effect of the robot control device according to the first embodiment, and FIG. 6A shows an example of simulation results when the robot control device according to the first embodiment is used. FIG. 6B is a diagram showing an example of a simulation result when a conventional robot control device is used; FIG. 10 is a diagram showing a configuration example of a robot control device according to Embodiment 2; FIG. 10 is a diagram showing a configuration example of a robot control device according to Embodiment 2; 1 is a diagram showing a configuration example of a robot system including a conventional robot control device; FIG. It is a figure which shows the structural example of the conventional robot control apparatus. It is a figure which shows the structural example of the conventional robot control apparatus.

BEST MODE FOR CARRYING OUT THE INVENTION Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.
Embodiment 1.
1 and 2 are diagrams showing a configuration example of a robot control device 1 according to Embodiment 1. FIG. Note that the relationship between the robot control device 1 and the robot 2 is the same as in FIG. 9, and the description thereof will be omitted.
The robot control device 1 simultaneously (in parallel) controls the position/orientation and force of the robot 2 . As shown in FIGS. 1 and 2, the robot control device 1 includes a main controller (upper controller) 11 and a plurality of joint controllers (lower controllers) 12 . The joint controller 12 is provided for each joint of the robot 2 . The main controller 11 and each joint controller 12 are connected by communication lines.

The main control unit 11 controls the entire robot 2 by outputting command values to each joint control unit 12 . Specifically, the main control unit 11 controls the torque command value and the position/posture control value for each joint based on the force command value, the position/posture command value, and the current angle value for each joint of the robot 2 . Calculate the command value. In FIGS. 1 and 2, the position/attitude control command value is a speed command value. The main control unit 11 includes a torque command value conversion unit 111, a position/posture calculation unit 112, a position/posture control unit 113, and a command value conversion unit 114, as shown in FIG. The main control unit 11 is implemented by a processing circuit such as a system LSI (Large Scale Integration) or a CPU (Central Processing Unit) that executes programs stored in a memory or the like.

The torque command value conversion unit 111 converts the force command value into a torque command value for each joint of the robot 2 . The torque command value conversion section 111 has a coefficient multiplication section 1111 . A coefficient multiplier 1111 multiplies the force command value by the transposed matrix of the Jacobian matrix. The force command value is expressed in an orthogonal coordinate system, and the torque command value converter 111 converts the force command value into a torque command value expressed in the joint coordinate system. In FIG. 2, Fr represents a force command value, J represents a Jacobian matrix, and τr represents a torque command value.

The position/posture calculation unit 112 calculates the current values of the position/posture of the robot 2 based on the current values of the angles of the joints of the robot 2 . The angle of each joint of the robot 2 is expressed in a joint coordinate system, and the position/orientation calculator 112 converts the angle of each joint into a position/orientation expressed in an orthogonal coordinate system. The current value of the angle for each joint of the robot 2 is detected by the encoder 24 provided for each joint. In FIG. 2, θ represents the current value of the angle, and X represents the current value of the position and orientation.

The position/attitude control unit 113 calculates a velocity command value (position/attitude control command value) based on the position/attitude command value and the position/attitude current value calculated by the position/attitude calculation unit 112 . The position/posture control unit 113 has a deviation calculator 1131 and a coefficient multiplier 1132 .

The deviation calculator 1131 calculates the deviation between the position/orientation command value and the position/orientation current value.
The coefficient multiplier 1132 obtains a speed command value by multiplying the deviation calculated by the deviation calculator 1131 by the gain. In FIG. 2, Xr represents the command value of the position and orientation, and _GZ represents the gain.

The command value conversion unit 114 converts the speed command value calculated by the position/orientation control unit 113 into an angular speed command value for each joint of the robot 2 . The command value conversion section 114 has a coefficient multiplication section 1141 . The coefficient multiplier 1141 multiplies the velocity command value calculated by the position/orientation controller 113 by the inverse of the Jacobian matrix. That is, the command value converter 114 converts the command value represented by the orthogonal coordinate system into the command value represented by the joint coordinate system. In FIG. 2, θ (dot) r represents the command value of the angular velocity.

The joint control unit 12 controls the motors 21 provided at the corresponding joints according to commands from the main control unit 11 . Specifically, based on the current torque value at the corresponding joint and the torque command value and the angular velocity command value (position/orientation control command value) calculated by the main control unit 11, the joint control unit 12: A command value for the motor 21 provided at the corresponding joint is calculated. The joint control unit 12 includes a torque acquisition unit 121, a torque control unit 122, and a motor control unit 123, as shown in FIG. The motor controller 123 has a joint angle controller 124 and a command value synthesizer 125 .

The torque acquisition unit 121 acquires the current torque value at the corresponding joint. The current value of torque for each joint of the robot 2 is detected by a torque sensor 23 provided for each joint.

The torque control unit 122 calculates a command value for torque control based on the current torque value at the corresponding joint and the torque command value calculated by the main control unit 11 . The torque control section 122 has a subtractor 1221 and a PI control section 1222 .

The subtractor 1221 subtracts the current torque value obtained by the torque obtaining unit 121 from the torque command value calculated by the main control unit 11 .
The PI control unit 1222 obtains a command value for torque control by performing PI control based on the subtraction result of the subtractor 1221 .

The joint angle control unit 124 calculates an angular velocity control command value based on the angular velocity command value calculated by the main control unit 11 . The joint angle control section 124 has a speed conversion section 1241 and a speed control section 1242 . The speed control section 1242 has a subtractor 1243 and a PI control section 1244 .

The velocity conversion unit 1241 converts the current value of the angle at the corresponding joint into the current value of the angular velocity.

The subtractor 1243 subtracts the current value of the angular velocity obtained by the velocity converter 1241 from the command value of the angular velocity calculated by the main controller 11 .
The PI control unit 1244 obtains a command value for angular velocity control by performing PI control based on the subtraction result of the subtractor 1243 .

The command value synthesizer 125 synthesizes the torque control command value calculated by the torque controller 122 and the angular velocity control command value calculated by the joint angle controller 124 . In FIG. 1 , command value synthesizing section 125 has adder 1251 . The adder 1251 adds the torque control command value calculated by the torque control unit 122 and the angular velocity control command value calculated by the joint angle control unit 124 . A command value (current command value) as a result of synthesis by the command value synthesizing unit 125 is output to the motor 21 .

Next, an operation example of the robot control device 1 according to Embodiment 1 shown in FIGS. 1 and 2 will be described with reference to FIG.
In the operation example of the robot control device 1 according to the first embodiment shown in FIGS. 1 and 2, as shown in FIG. A torque command value and an angular velocity command value (position/orientation control command value) for each joint are calculated based on the current value of the angle of each joint (step ST301).

Next, based on the current torque value at the corresponding joint and the torque command value and the angular velocity command value calculated by the main control unit 11, the joint control unit 12 issues a command to the motor 21 provided at the corresponding joint. A value is calculated (step ST302).

Next, an operation example of the main control section 11 shown in FIGS. 1 and 2 will be described with reference to FIG.
In the operation example of the main control unit 11 shown in FIGS. 1 and 2, as shown in FIG. Convert (step ST401). 1 and 2, the coefficient multiplier 1111 multiplies the force command value by the transposed matrix of the Jacobian matrix. Note that the Jacobian matrix changes depending on the angles of the joints of the robot 2, so it needs to be updated as appropriate. In addition, since the current value of the torque acquired by the torque acquisition unit 121 usually includes a torque component caused by gravity, it is preferable to superimpose the estimated value of the torque component caused by gravity on the torque command value so as to cancel out the torque component.

Further, the position/orientation calculation section 112 calculates the current values of the position/orientation of the robot 2 based on the current values of the angles of the joints of the robot 2 (step ST402).

Next, the position/attitude control unit 113 calculates a velocity command value (position/attitude control command value) based on the position/attitude command value and the current position/attitude value calculated by the position/attitude calculation unit 112 (step ST403). 1 and 2, the deviation calculator 1131 calculates the deviation between the command value of the position and orientation and the current value of the position and orientation, and the coefficient multiplier 1132 calculates the deviation of the calculation result of the deviation calculator 1131. By multiplying the gain, the speed command value is obtained. The positional deviation is obtained by subtracting the coordinate value of the current value from the coordinate value of the command value. The attitude deviation can be obtained by calculating the rotational transformation from the current attitude to the commanded attitude.

Next, the command value conversion unit 114 converts the speed command value calculated by the position/orientation control unit 113 into an angular speed command value for each joint of the robot 2 (step ST404). 1 and 2, the coefficient multiplier 1141 multiplies the speed command value calculated by the position/orientation controller 113 by the inverse of the Jacobian matrix to obtain the angular velocity command value for each joint.

Next, an operation example of the joint control section 12 shown in FIGS. 1 and 2 will be described with reference to FIG.
In the operation example of the joint control section 12 shown in FIGS. 1 and 2, as shown in FIG. 5, first, the torque acquisition section 121 acquires the current torque value at the corresponding joint (step ST501).

Next, the torque control section 122 calculates a torque control command value based on the current torque value at the corresponding joint and the torque command value calculated by the main control section 11 (step ST502). 1 and 2, the subtractor 1221 subtracts the current torque value acquired by the torque acquisition unit 121 from the torque command value calculated by the main control unit 11, and the PI control unit 1222 A command value for torque control is obtained by performing PI control based on the subtraction result.

Further, the joint angle control section 124 calculates a command value for angular velocity control based on the command value for the angular velocity calculated by the main control section 11 (step ST503). 1 and 2, a velocity converter 1241 converts the current value of the angle at the corresponding joint into the current value of the angular velocity, and the subtractor 1243 converts the angular velocity command value calculated by the main controller 11 into the velocity. The current value of the angular velocity obtained by the section 1241 is subtracted, and the PI control section 1244 performs PI control based on the subtraction result of the subtractor 1243 to obtain the command value of the angular velocity control.

Next, the command value synthesizer 125 synthesizes the torque control command value calculated by the torque controller 122 and the angular velocity control command value calculated by the joint angle controller 124 (step ST504). 1 and 2, the adder 1251 adds the torque control command value calculated by the torque control unit 122 and the angular velocity control command value calculated by the joint angle control unit 124 . A command value (current command value) as a result of synthesis by the command value synthesizing unit 125 is output to the motor 21 .

Next, effects of the robot control device 1 according to the first embodiment will be described.
As described above, in the conventional robot control device 1b, the main control section 11b constitutes a feedback system. That is, in this robot control device 1b, feedback control calculations are performed by components that are physically and communicatively distant from the robot 2. FIG. Therefore, the delay from the detection of the torque by the torque sensor 23 to the input of the command value to the motor 21 becomes longer. As a result, in the robot control device 1, there is an unavoidable amount of room for dead time, which is a factor in suppressing a high gain that can maintain stability. In addition, the dead time itself is not a factor that can be canceled by lead compensation or the like, so it cannot be avoided that it adversely affects the response time.

On the other hand, unlike the robot control device 1 according to Embodiment 1, instead of the main control unit 11 performing calculations for force control, the joint control unit 12 performs calculations for torque control. The delay from the torque detection by the sensor 23 to the input of the command value to the motor 21 is shortened, and the dead time can be reduced. That is, the robot control device 1 according to Embodiment 1 can also perform adjustment (gain adjustment of 1-variable control for each joint) equivalent to increasing the gain of the controller capable of maintaining stability. As described above, in the robot control device 1 according to Embodiment 1, it is possible to improve the force control performance (especially quick response) compared to the conventional configuration.

FIG. 6 is a diagram for explaining the effects of the robot control device 1 according to the first embodiment. FIG. 6A is a diagram showing an example of simulation results when using the robot control device 1 according to Embodiment 1, and FIG. 6B shows an example of simulation results when using a conventional robot control device 1b. It is a diagram. FIG. 6 shows simulation results when the robot 2 presses an object in the Z-axis direction. Note that the target value of the pressing force by the robot 2 is 10 [N]. 6A and 6B, the horizontal axis indicates time [s], and the vertical axis indicates the pressing force of the robot 2 in the Z-axis direction.
In this case, as shown in FIG. 6B, when the conventional robot control device 1b is used, the time (settling time) until the pressing force in the Z-axis direction by the robot 2 settles to the target value is 3.03. [s]. On the other hand, as shown in FIG. 6A, when the robot control device 1 according to Embodiment 1 is used, the settling time is 0.47 [s]. That is, when the robot control device 1 according to the first embodiment is used, the pressing force in the Z-axis direction by the robot 2 settles to the target value in a shorter time than when the conventional robot control device 1b is used. I know you are.

In FIG. 6B, the gain from the calculation of the force deviation to the calculation of the speed command value in the conventional robot control device 1b is -2.0×10 ^-3 . On the other hand, in FIG. 6A, the equivalent gain corresponding to the gain from the calculation of the force deviation to the calculation of the speed command value in the robot control device 1 according to Embodiment 1 is −9.2×10 ⁻³ . . That is, it can be seen that the robot control device 1 according to the first embodiment can achieve force control with a higher gain than the conventional robot control device 1b. Note that the robot control device 1 according to the first embodiment does not actually calculate the speed command value from the force deviation, so the gains shown above are not actual gains but converted values.

In the robot control device 1 shown in FIGS. 1 and 2, a single torque control can be realized by setting the gain related to speed control to 0, and normal speed control can be realized by setting the gain related to torque control to 0. can.

As described above, according to the first embodiment, the robot control device 1 calculates the force command value, the position/orientation command value, and the current angle value of each joint of the robot 2 . A main control unit 11 for calculating a command value of torque and a command value for position/orientation control, and a current value of the torque at the corresponding joint provided for each joint of the robot 2 and the torque value calculated by the main control unit 11 . A joint control unit 12 for calculating a command value for a motor 21 provided at a corresponding joint based on the command value and the command value for position/orientation control. As a result, the robot control device 1 according to the first embodiment can improve force control performance compared to the conventional configuration.

In addition, in Embodiment 1, the case where the joint angle control section 124 is provided in the joint control section 12 is shown. However, the present invention is not limited to this, and the joint angle control section 124 may be provided in the main control section 11 . For example, when the robot 2 operates at a low speed, it is considered that the joint angle control section 124 provided in the main control section 11 has little effect.
Also, the joint angle control unit 124 is not an essential component and may be removed from the robot control device 1 .

Embodiment 2.
In the first embodiment, in the joint control unit 12, a command value for angular velocity control is calculated using the command value for angular velocity (command value for position/orientation control) calculated by the main control unit 11, and then a command value for torque control is calculated. A case of synthesizing a value and a command value for angular velocity control is shown. However, the invention is not limited to this. A command value for angular velocity control may be calculated.
7 and 8 are diagrams showing configuration examples of the robot control device 1 according to the second embodiment. The robot control device 1 according to Embodiment 2 shown in FIGS. The value synthesizing unit 126 and the joint angle control unit 127 are changed. Other configurations are the same, and the same reference numerals are given to omit the description.

The command value synthesizing unit 126 synthesizes the angular velocity command value (position/orientation control command value) calculated by the main control unit 11 and the torque control command value calculated by the torque control unit 122 . In FIG. 8 , command value synthesizing section 126 has adder 1261 . The adder 1261 adds the angular velocity command value calculated by the main control unit 11 and the torque control command value calculated by the torque control unit 122 .

The joint angle control section 127 calculates a command value for angular velocity control based on the result of synthesis by the command value synthesis section 126 . The joint angle control section 127 has a speed conversion section 1271 and a speed control section 1272 . The speed control section 1272 has a subtractor 1273 and a PI control section 1274 .

The velocity conversion unit 1271 converts the current value of the angle at the corresponding joint into the current value of the angular velocity.

A subtractor 1273 subtracts the current value of the angular velocity obtained by the velocity conversion section 1271 from the synthesis result of the command value synthesis section 126 .
The PI control unit 1274 obtains a command value for angular velocity control by performing PI control based on the subtraction result of the subtractor 1273 .
The angular velocity control command value (current command value) calculated by the joint angle control unit 127 is output to the motor 21 provided at the corresponding joint.

As described above, in the robot control apparatus 1 according to the second embodiment, the command value for position/orientation control and the command value for torque control are combined, and angular velocity control is performed based on the combined result. The same effect as the robot control device 1 according to the first embodiment can be obtained with the robot control device 1 according to the second embodiment. Further, the robot control device 1 according to the second embodiment has a correspondence relationship close to that of conventional compliance control.

In addition, within the scope of the present invention, it is possible to freely combine each embodiment, modify any component of each embodiment, or omit any component in each embodiment. be. For example, in Embodiments 1 and 2, the joint angle control unit performs velocity control, but it is also possible to control the position and orientation through control of other physical quantities such as acceleration or current. .

1 robot control device 2 robot 11 main control unit 12 joint control unit 21 motor 22 sensor 23 torque sensor 24 encoder 111 torque command value conversion unit 112 position/attitude calculation unit 113 position/attitude control unit 114 command value conversion unit 121 torque acquisition unit 122 torque Control unit 123 Motor control unit 124 Joint angle control unit 125 Command value synthesis unit 126 Command value synthesis unit 127 Joint angle control unit 1111 Coefficient multiplication unit 1131 Deviation calculator 1132 Coefficient multiplication unit 1141 Coefficient multiplication unit 1221 Subtractor 1222 PI control unit 1241 Speed converter 1242 Speed controller 1243 Subtractor 1244 PI controller 1251 Adder 1261 Adder 1271 Speed converter 1272 Speed controller 1273 Subtractor 1274 PI controller

Claims (4)

a main control unit that calculates a torque command value and a position/attitude control command value for each joint based on a force command value, a position/posture command value, and a current angle value for each of a plurality of joints of the robot;
A current value of torque at the corresponding joint, which is provided for each of the plurality of joints of the robot and is obtained from means capable of detecting the current value of torque at each joint, and a torque command value calculated by the main control unit; a joint control unit that calculates a command value for a motor provided at a corresponding joint based on a command value for position/orientation control;
The main control unit
a torque command value conversion unit that converts a force command value into a torque command value for each of a plurality of joints of the robot;
The joint control unit is
a torque control unit that calculates a command value for torque control based on the current torque value at the corresponding joint and the torque command value calculated by the main control unit;
Velocity and acceleration based on the torque control command value calculated by the torque control unit, the position/attitude control command value calculated by the main control unit, or the position/attitude control command value calculated by the main control unit and a command value synthesizing unit for synthesizing the control command value calculated by the joint angle control unit for calculating a command value for current or torque control. The command value synthesizing unit obtains a command value for the motor by synthesizing the position/orientation control command value calculated by the main control unit and the torque control command value calculated by the torque control unit. 2. The robot control device according to claim 1. The joint control section has the joint angle control section,
The joint angle control unit calculates a command value for angular velocity control based on the command value for position/orientation control calculated by the main control unit,
The command value synthesis unit obtains a command value for the motor by synthesizing the torque control command value calculated by the torque control unit and the angular velocity control command value calculated by the joint angle control unit. 2. The robot control device according to claim 1. A robot control method by a robot control device including a main control unit and a joint control unit provided for each of a plurality of joints of the robot,
The main control unit calculates a torque command value and a position/attitude control command value for each joint based on a force command value, a position/posture command value, and a current angle value for each of a plurality of joints of the robot. ,
The joint control unit controls the current torque values at the corresponding joints obtained from means capable of detecting the current torque values of the joints, the torque command values calculated by the main control unit, and the position/orientation control commands. Based on the value, calculate the command value for the motor provided in the corresponding joint,
The main control unit
a torque command value conversion unit that converts a force command value into a torque command value for each of a plurality of joints of the robot;
The joint control unit is
a torque control unit that calculates a command value for torque control based on the current torque value at the corresponding joint and the torque command value calculated by the main control unit;
Velocity and acceleration based on the torque control command value calculated by the torque control unit, the position/attitude control command value calculated by the main control unit, or the position/attitude control command value calculated by the main control unit and a command value synthesizing unit for synthesizing the control command value calculated by the joint angle control unit for calculating the current or torque control command value.

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