Controller for performing hybrid control using velocity and force

A controller for controlling a control target by periodically outputting a corrected command value to the control target, the control target being driven to generate a predetermined viscous force, the controller comprising a processor configured with a program to perform operations comprising:

• operation as a storage unit;
• operation as a command value generation unit configured to:
• obtain, from the storage unit:
• a target velocity value and a target force value for driving the control target;
• a feedback velocity value from the control target;
• a feedback force value from the control target;
• and a ratio comprising a ratio of an error of the feedback velocity value to an error of the feedback force value;
• and
• calculate a command value using the following relational expression for velocity impedance control eliminating a spring constant:
• Vc=Vnow+{Dd1(Vd−Vnow)+Md1(Fnow−Fd)} Δt, where Vd comprises the target velocity value, Vnow comprises the feedback velocity value, Fd comprises the target force value, Fnow comprises the feedback force value, Dd1 comprises a viscosity coefficient, and Md1 comprises a weight coefficient;
• and
• operation as a correction operation unit configured to:
• obtain the calculated command value from the command value generation unit;
• and
• output the calculated command value as the corrected command value to the control target.