POSITION/FORCE CONTROLLER, AND POSITION/FORCE CONTROL METHOD AND PROGRAM

摘要

Provided is a technique for more appropriately realizing human-like movement by a robot. This position/force controller performs: detecting information relating to a position based on the effect of an actuator; converting by distributing control energy to speed or positional energy and force energy in response to functions realized on the basis of speed (position) and force information corresponding to the information relating to the position and on the basis of information serving as a reference for control; calculating the control amount for speed or position on the basis of the speed or positional energy; calculating the force control amount on the basis of the force energy; and integrating the speed or position control amount and the force control amount and performing a reverse conversion on the speed or position control amount and the force control amount to return the output to the actuator, to determine the input to the actuator.

主权项

1. A position/force controller comprising: a position detection means that detects information relating to a position based on an action of an actuator;
a function-dependent force/speed distribution conversion means that, on the basis of speed or position information and force information corresponding to the information relating to the position and on the basis of information serving as a reference for control, performs a conversion to distribute control energy to speed or position energy and force energy in accordance with a function that is being realized; a position control amount calculation means that calculates a speed or position control amount on the basis of the speed or position energy distributed by the function-dependent force/speed distribution conversion means; a force control amount calculation means that calculates a force control amount on the basis of the force energy distributed by the function-dependent force/speed distribution conversion means; an integration means that integrates the speed or position control amount with the force control amount and, in order to return an output of the integration to the actuator, performs a reverse conversion on the speed or position control amount and the force control amount and determines an input to the actuator, wherein the speed or position energy and the force energy can be respectively separately controlled.