| 摘要 |
There is provided an actuator control device for force-controlling a joint driving actuator according to a commanded joint force command value taua. The actuator control device includes a joint value detecting means for detecting a joint value q at an output stage of the actuator, an action force detecting means for detecting an action force taue in a joint driving direction at the output stage of the actuator, and a driving force determining means for determining an instructed driving force tau to the actuator, on the basis of an ideal response model of the actuator which specifies the relationship of a joint value acceleration target value achieved as the actuator responds ideally when the joint force command value taua, the action force taue, and a joint value velocity obtained by time-differentiating the joint value q are given.
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