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Patent Searching and Data


Title:
POSITION/FORCE CONTROL DEVICE, POSITION/FORCE CONTROL METHOD, AND PROGRAM
Document Type and Number:
WIPO Patent Application WO/2020/162619
Kind Code:
A1
Abstract:
[Problem] To provide a technology for more appropriately realizing functions required of a robot. [Solution] This position/force control device: performs first conversion for allocating control energy to force energy and/or speed or potential energy in accordance with a function to be realized on the basis of information which becomes reference for control and information regarding force and speed (position) corresponding to information about a position based on an operation of an actuator; calculates a control amount of force and/or a control amount of speed or position on the basis of at least one of the allocated energies; performs second conversion by integrating the calculated control amounts; and determines an input to the actuator. The position/force control device performs a process which satisfies a condition set for the control energy, and which corresponds to increasing or reducing the force energy and/or the speed or potential energy.

Inventors:
OHNISHI KOUHEI (JP)
NOZAKI TAKAHIRO (JP)
MIZOGUCHI TAKAHIRO (JP)
Application Number:
PCT/JP2020/004933
Publication Date:
August 13, 2020
Filing Date:
February 07, 2020
Export Citation:
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Assignee:
UNIV KEIO (JP)
MOTION LIB INC (JP)
International Classes:
B25J3/00; G05D3/12
Domestic Patent References:
WO2015041046A12015-03-26
WO2013108356A12013-07-25
Foreign References:
JP2007274783A2007-10-18
Attorney, Agent or Firm:
BONO Yasuhiro (JP)
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