| 摘要 |
PROBLEM TO BE SOLVED: To estimate a contact force applied to an actuator without having to use a force sensor. SOLUTION: A force detector includes: a current generator 5 for generating a current proportional to an input voltage; an actuator 1 for generating a drive force according to a current generated by the current generator to move a movable unit 1a; and an external force estimator 6, a device for positioning control by comparing output of a position sensor 2 which detects the positions of movable units with target positions and feeding back their errors to the actuator through the current generator, for estimating a contact force applied to the movable units after estimating a force due to gravity acceleration applied to the movable units on the basis of a voltage input to the current generator and positions detected by the position sensor with the movable units not in contact with an object and stationary and subtracting a force due to the gravity acceleration from an external force applied to the movable units estimated with the actuator stationary or moving at a uniform speed. COPYRIGHT: (C)2011,JPO&INPIT
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