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 is provided with: a position detection means for detecting information relating to a position based on the effect of an actuator; a function-dependent force/speed distribution conversion means for performing conversion 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; a position control amount calculation means for calculating the control amount for speed or position on the basis of the speed or positional energy; a force control amount calculation means for calculating the force control amount on the basis of the force energy; and an integration means for 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.