| 摘要 |
PROBLEM TO BE SOLVED: To provide a technology for establishing a device for performing power assistance by continuously varying control from servo control to impedance control via speed-reduction control without utilizing a force/torque sensor, and to use the technology for enhancement of safety by doubling of a control system or cost reduction of a power assistant device. SOLUTION: The movement device is provided with the movement body having a driving mechanism; and three kinds of control means (means for performing impedance control based on the servo control means, the speed-reduction control means and acceleration). The movement device is provided with a switching means for gradually switching the control from the control state by the servo control means to the control state by the speed-reduction control means by gradually varying control parameter when the movement body is moved to a neighborhood to a worker in the servo-controlled state; and a switching means for gradually switching the control from the control state by the speed-reduction control means to the control state by the impedance control means by gradually varying the control parameter when operation is applied to the movement body. COPYRIGHT: (C)2009,JPO&INPIT
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