Control Method and Device for Position-Based Impedance Controlled Industrial Robot
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The present invention relates to a power controlling method for a robot system with a position controller. A controlling method for a position control industrial robot comprises: (A) a step of setting a first control parameter; (B) a step of detecting displacement (X=Xd) and contact force (Fe) of a robot; (C) a step of calculating a rigidity prediction value of the environment from the displacement (X=Xd) and contact force (Fe) of the robot; (D) a step of calculating a second control parameter from the first control parameter and the rigidity prediction value; (E) a step of determining whether a position change amount is 0; (F) a step of calculating an actuating force (Fd) of the robot when the position change amount is 0; (G) a step of calculating the range of a bounding parameter value which meets passive conditions of a robot system using the first and second parameters, and calculating the actuating force (Fd) of the robot according to the calculated range of the bounding parameter value; (H) a step of applying the calculated actuating force (Fd) to an impedance controller; (I) a step of calculating a position correction displacement (Xf) by the impedance controller; and (J) a step of applying the calculated position correction displacement (Xf) to the impedance controller. Therefore, the provided controlling method for a position control industrial robot can ensure robust contact stability of a robot which interacts with an uncertain actual environment through contact.