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Title:
FORCE CONTROL DEVICE, FORCE CONTROL METHOD, AND FORCE CONTROL PROGRAM
Document Type and Number:
WIPO Patent Application WO/2019/013067
Kind Code:
A1
Abstract:
Provided is a force control device which, even in cases of torque saturation, reduces misalignment of the positions of a virtual object and a target of control and improves the tracking ability while improving stability, by using an algebraic loop to feedback the position of the virtual object. The force control device is equipped with a position detector for detecting the position of the target of control, a force sensor 11 for detecting the force with which the target of control makes contact with an object, a movement mechanism 41 for holding the target of control in a manner enabling movement, a drive device 42 having a motor which uses a torque command value as an input to operate the movement mechanism 41, and a computation device 40 for determining the torque command value. The computation device 40 stores a virtual object 12 having prescribed dynamic characteristics and a position controller 13, calculates the position of the virtual object 12 at the next time point at which simulation and calculation is performed for the motion of the virtual object 12 when a target force to be exerted on the target of control and a measurement value from the force sensor 11 are applied to the virtual object 12, obtains the torque calculated when said position is provided to the position controller 13 as the target position for the next time point, and in cases in which said torque is outside a preset specified range, determines the position of the virtual object 12 at the next time point using an algebraic loop on the basis of said torque and a boundary value of said specified range.

Inventors:
KIKUUWE RYO (JP)
Application Number:
PCT/JP2018/025338
Publication Date:
January 17, 2019
Filing Date:
July 04, 2018
Export Citation:
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Assignee:
UNIV KYUSHU NAT UNIV CORP (JP)
International Classes:
G05B17/02
Foreign References:
JP6032811B22016-11-30
JP2009066696A2009-04-02
JP2009208170A2009-09-17
JP2007102748A2007-04-19
JPS6032811B21985-07-30
Other References:
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See also references of EP 3654119A4
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Attorney, Agent or Firm:
HIRAI Yasuo (JP)
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