THE APPARATUS AND METHOD OF CONTROLLING ROBOT

Disclosed are a robot control apparatus and a robot control method. According to the present invention, a first control algorithm is generated based on time delay estimation in a workspace; a second control algorithm is generated based on time delay estimation in a joint space; and the first control...

Ausführliche Beschreibung

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Bibliographische Detailangaben
Hauptverfasser:	JIN MAOLIN, LEE JUNYOUNG, SHIN JUSEONG, PARK SANG HYUN, SHIN DONGGWAN
Format:	Patent
Sprache:	eng ; kor
Schlagworte:	CHAMBERS PROVIDED WITH MANIPULATION DEVICES HAND TOOLS MANIPULATORS PERFORMING OPERATIONS PORTABLE POWER-DRIVEN TOOLS TRANSPORTING
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Beschreibung
Zusammenfassung:	Disclosed are a robot control apparatus and a robot control method. According to the present invention, a first control algorithm is generated based on time delay estimation in a workspace; a second control algorithm is generated based on time delay estimation in a joint space; and the first control algorithm is converted into a similar form with the second control algorithm by reflecting a correlation of the first control algorithm and the second control algorithm, so that an integrated control algorithm in the workspace and the joint space is generated. By modulating time delay estimation method by the integrated control algorithm, the robot control apparatus can respond to both of the workspace and the joint space, so as to increase versatility. 로봇 제어 장치 및 로봇 제어 방법이 개시된다. 이에 의하면, 작업공간에서의 시간지연추정에 기초한 제1 제어 알고리즘을 생성하고; 관절공간에서의 상기 시간지연추정에 기초한 제2 제어 알고리즘을 생성하고; 상기 제1 제어 알고리즘과 상기 제2 제어 알고리즘의 상관관계를 반영하여 상기 제1 제어 알고리즘을 상기 제2 제어 알고리즘과 유사한 형태로 변환함으로써, 작업공간 및 관절공간에서의 통합 제어 알고리즘을 생성할 수 있다.