Control device, control method, and control system
AssigneeSony Corporation
InventorsYasuhiro Matsuda, Kenichiro Nagasaka, Hiromasa Masuda, Kazuo Hongo
Life of this patent
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Abstract
Provided is a control device capable of controlling the operation of a control target according to a detected external force. A control device (200) includes a control unit (210-1) that compares a first external force detected by a force sensor provided in a control target and a second external force estimated on the basis of a torque detected by a torque sensor provided in an a movable portion of the control target, the movable portion enabling the force sensor to be movable, and controls the operation of the control target by correcting a torque command value on the basis of a result of the comparison.
Claims15
A control device comprising:
- a control unit configured to
- compare a first external force detected by a force sensor provided in a first portion of a control target and a second external force estimated on a basis of a torque detected by a torque sensor provided in a movable portion of the control target, the movable portion enabling the force sensor to be movable and being different than the first portion of the control target,
- correct a torque command value on a basis of a result of the comparison to control an operation of the control target, and
- adjust a gain on a basis of a difference between the first external force and the second external force extracted by the comparison and apply the gain to the torque command value to control switching between a first mode where the control target operates based on the first external force detected by the force sensor and the torque detected by the torque sensor and a second mode where the control target operates based on only the first external force detected by the force sensor,
- wherein the control unit is implemented via at least one processor.
A control method executed by a processor, comprising:
- comparing a first external force detected by a force sensor provided in a first portion of a control target and a second external force estimated on a basis of a torque detected by a torque sensor provided in a movable portion of the control target, the movable portion enabling the force sensor to be movable and being different than the first portion of the control target;
- correcting a torque command value on a basis of a comparison result to control an operation of the control target;
- and
- adjusting a gain on a basis of a difference between the first external force and the second external force extracted by the comparison and applying the gain to the torque command value to control switching between a first mode where the control target operates based on the first external force detected by the force sensor and the torque detected by the torque sensor and a second mode where the control target operates based on only the first external force detected by the force sensor.
A control system comprising:
- an arm device including a movable portion having an actuator, an arm portion in which a plurality of links are connected by the movable portion, a torque sensor provided in the movable portion and configured to detect a torque applied to the movable portion, and a force sensor provided in a tip end of the arm portion and configured to detect a first external force applied to the tip end of the arm portion, the tip end of the arm portion being different than the movable portion;
- and
- a control device including a control unit configured to
- compare the first external force and a second external force estimated on a basis of the torque,
- correct a torque command value on a basis of a comparison result to control an operation of the arm device, and
- adjust a gain on a basis of a difference between the first external force and the second external force extracted by the comparison and apply the gain to the torque command value to control switching between a first mode where the arm device operates based on the first external force detected by the force sensor and the torque detected by the torque sensor and a second mode where the arm device operates based on only the first external force detected by the force sensor,
- wherein the control unit is implemented via at least one processor.
Dependencies are inferred from the claim text.