公开(公告)号：JPH02212086A

公开(公告)日：1990-08-23

申请号：JP2971389

申请日：1989-02-10

Applicant: IBM JAPAN

Inventor： ISHIKAWA HIROSHI ,  KAWASE KATSURA

IPC: B25J9/16 ,  B25J9/18 ,  B25J13/00 ,  B25J13/08 ,  B25J17/02 ,  B25J19/00 ,  G05D3/12

Abstract: PURPOSE:To freely control the compliance of a terminal by calculating the force output to the terminal based on the position and speed of the terminal, generating this force on the terminal by an actuator and executing the positional control by finding the target position of a manipulator as well based on the displacement amount of the terminal. CONSTITUTION:In the case of the compliance control of a robot, the position and speed of the terminal are detected at least. Based on this detected value the movement equation on the terminal is worked out, the force Td to be output to the terminal is calculated and this calculated force Td is generated on the terminal by an actuator. Moreover, the displacement amount wPf of the terminal is found, the target position of a manipulator is found based on this found terminal displacement amount wPf, the position of the manipulator is controlled and the movable range of the wrist part is compensated.