In order to stabilize control of a driving section, a robot control apparatus includes a control section that acquires a driving position of the driving section that drives a robot and an operation force that is a force operating on the robot, and performs first control of the driving section based on the driving position and second control of the driving section based on the operation force; and a changing section that changes a size of servo stiffness of the robot that is realized by the control of the control section.

A control apparatus that controls a first robot arm provided with a first force detection part and a second robot arm provided with a second force detection part, includes a processor that configured to move the first robot arm until a target force is detected by the first force detection part and performs impedance control on the second robot arm based on output of the second force detection part in at least a part of a movement period in which the first robot arm is moved.

The invention relates to a device and method for performing open-loop and closed-loop control of a robot manipulator which is driven by a number M of actuators ACT.sub.m and has an end effector. The invention comprises a first unit which registers and/or makes available an external force winder {right arrow over (F)}.sub.ext(t)={{right arrow over (f)}.sub.ext(t),{right arrow over (m)}.sub.ext(t)} acting on the end effector, a regulator which is connected to the first unit and to the actuators ACT.sub.m and which comprises a first regulator R1, which is a force regulator, and a second regulator R2 which is connected thereto and which is an impedance regulator, an admittance regulator, a position regulator or a cruise controller, wherein the regulator determines manipulated variables u.sub.m(t) with which the actuators ACT.sub.m can be actuated in such way that when contact occurs with the surface of an object, the end effector acts on said object with a predefined force winder {right arrow over (F)}.sub.D(t)={{right arrow over (f)}.sub.D(t),{right arrow over (m)}.sub.D(t)}; where u.sub.m(t)=u.sub.m,R1(t)+u.sub.m,R2(t), wherein the first regulator R1 is embodied and configured in such a way that the manipulated variable u.sub.m,R1(t) is determined as a product of a manipulated variable u.sub.m,R1(t)* and a function S(v(t)) or as a function S*(v(t), u.sub.m,R1(t)*), where: u.sub.m,R1(t)=S(v(t)) u.sub.m,R1(t)* or u.sub.m,R1(t)=S*(v*(t), u.sub.m,R1(t)*); v(t)=v({right arrow over (F)}.sub.D(t), {right arrow over (R)}(t)); v[v.sub.a, v.sub.e], v*(t)=v*({right arrow over (F)}.sub.D(t), {right arrow over (R)}(t))=[v.sub.1*({right arrow over (F)}.sub.D(t), {right arrow over (R)}(t)), . . . , v.sub.Q*({right arrow over (F)}.sub.D(t), {right arrow over (R)}(t))].

A resistive exoskeleton control system has a controller generating a positive resistance by shaping a closed loop integral admittance of a coupled human exoskeleton system wherein a frequency response magnitude of the integral admittance is lower than that of a natural human joint for desired frequencies of interest and generating an assistance ratio of approximately zero for the desired frequencies of interest.

The velocity and force of a target is controlled to have a predetermined relationship, independently of changes in the velocity at which the target is driven using a velocity command value and in an external force from the target. A controller controls a control target, driven to generate a predetermined viscous force as a reaction force, by periodically outputting a command value to the control target using a target value calculated from a command pattern for driving the control target and a feedback value from the control target relative to the target value. A correction operation unit obtains a control physical quantity different from the command value, calculates a correction command value based on a relationship between an error of the obtained control physical quantity from its target value and an error of the feedback value from the target value, and outputs the correction command value to the control target.

A robot performs, after i-th (i is a natural number) work, i+1-th work different from the i-th work and performs, after j-th (j is a natural number satisfying ji) work, j+1-th work different from the j-th work. The robot performs the i+1-th work after the i-th work without changing information concerning correction in a joint of the robot during the i-th work, performs robot calibration after the j-th work, and performs the j+1-th work after performing the robot calibration.

An insertion method for a flexible elongate member is used to insert the flexible elongate member into a tube while causing first and second holding units to perform an opening-and-closing operation for holding and releasing the flexible elongate member. The method includes acquiring information of a distance by which the second holding unit moves with respect to the first holding unit and information of an operation type used to distinguish between insertion of the flexible elongate member into the tube, stoppage of the flexible elongate member, and extraction of the flexible elongate member from the tube; generating operation information regarding an opened/closed state of the first holding portion and an opened/closed state of the second holding portion on the basis of the distance and the operation type; and controlling the insertion, stoppage, or extraction of the flexible elongate member on the basis of the operation information.

A resistive exoskeleton control system has a controller generating a positive resistance by shaping a closed loop integral admittance of a coupled human exoskeleton system wherein a frequency response magnitude of the integral admittance is lower than that of a natural human joint for desired frequencies of interest and generating an assistance ratio of approximately zero for the desired frequencies of interest.