| 主权项 |
1. A robot device, comprising:
a manipulator including
a first link rotatably linked to a base by a first joint, anda pair of first actuators, modeled as a parallel connection of a force generating element, elastic element, and viscous element, selectively generating one generated force of tensile force and pushing force, and situated on either side of the first link so as to rotationally drive the first link on the first joint; and a control unit which performs
non-antagonistic driving where driving control of the first link is performed by causing one of the pair of first actuators to generate tensile force and the other to generate pushing force such that a first joint angle of the first joint reaches a first target joint angle, andantagonistic driving where driving control of the first link is performed by causing both of the pair of first actuators to generate tensile force, such that stiffness of the first joint reaches a first target stiffness when the first joint angle has converged at the first target joint angle; wherein the control unit executes
first joint torque computing processing to compute a first torque for the first joint, necessary to change the first joint angle to the first target joint angle,first summing processing to obtain a first sum value, indicating a sum of generated force to be generated at each first actuator, from the first target stiffness,first setting processing to set a first restricting coefficient to a value greater than 1 when performing the non-antagonistic driving, and to set the first restricting coefficient to 1 when performing the antagonistic driving,first restricting processing in which |T1|<U1 ×r×h1 is a first restricting condition, where the first joint torque is represented by T1, the first sum value is represented by U1, moment arm radius of the first link is represented by r, and the first restricting coefficient is represented by h1, so as to restrict the first joint torque to a range satisfying the first restricting condition, andfirst generated force computing processing to compute generated force at each first actuator, based on the first joint torque restricted in the first restricting processing; and wherein, in the first setting processing, setting is performed at the time of the non-antagonistic driving when switching from the non-antagonistic driving to the antagonistic driving, such that the first restricting coefficient gradually nears 1. |
