OPENTECHNICAL PUBLICATION
OT-2026-000001334

Robot control apparatus, robot control system, and method for controlling robot

Published: 2026-09-15T19:05:05.469333Z
Permanent URL: https://opentechnical.org/p/OT-2026-000001334
Categories: Robotics & Automation > Robot Architectures

------------------------------------------------------------------------

ABSTRACT

A robot control apparatus includes a control unit that generates, as control
information, information regarding an amount of movement for controlling a
motion of a robot and that outputs the control information, an information
obtaining unit that obtains, as actual physical information, physical
information indicating a result of an actual motion of the robot based on the
control information, a motion estimation unit that outputs information output
from a model plant, which is obtained by modeling an ideal state of the robot,
by inputting the control information to the model plant as estimated physical
information, which is obtained when the robot is assumed to move ideally on a
basis of the control information, and a state estimation unit that estimates a
state of the robot on a basis of the actual physical information and the
estimated physical information. The control unit generates the control
information further on a basis of a result of the estimation of the state of
the robot.

------------------------------------------------------------------------

OpenTechnical publication OT-2026-000001334
Published 2026-09-15T19:05:05.469333Z
https://opentechnical.org/p/OT-2026-000001334