Compliance control method

PURPOSE: To provide designated compliance by finding a position displaced by external force, calculating a locus of a position of a joint coordinate system by inverse kinematics from this, finding loci of a speed and acceleration by differentiating this, and controlling position by these loci. CONSTITUTION: A parameter on compliance and quantity on a balance of the compliance are designated. A positional orbit Prc of a control object to satisfy this equation is generated by solving a quadratic equation of motion of the control object in a world coordinate system containing this designated parameter, quantity on a balance of the compliance and quantity on detected force. The positional orbit Prc of the control object is converted into a positional orbit (qrc) of the control object in this proper coordinate system. A position of the control object is controlled to follow these orbits (q'rc, q"rc) and the positional orbit (qrc) by generating the orbit (q'rc) of a speed and the orbit (q"rc) of acceleration of the control object from this converted orbit (qrc). COPYRIGHT: (C)1989,JPO