Drive unit adopting admittance control

Abstract

A drive unit 10A is configured to exert a driving force on an environment 50 in accordance with a target driving force command τd, and includes a parameter storage device 30A, a force measuring instrument 35, an admittance model calculation device 31A, and a position control and driving device 33A. The parameter storage device 30A has stored therein dynamics parameters of first and second virtual objects affected by a virtual interactive force λR. The force measuring instrument 35 is configured to output a measurement result for the driving force as a measured driving force value τs. The admittance model calculation device 31A is configured to calculate and output a displacement of the first virtual object. The displacement is obtained by calculations based on the stored dynamics parameters, the target driving force command τd, and the measured driving force value τs. The position control and driving device 33A is configured to operate in accordance with a target position command. The force measuring instrument 35 is disposed between the position control and driving device 33A and the environment 50. The target position command corresponds to the first virtual object's displacement outputted by the admittance model calculation device 31A. The drive unit 10A achieves advantages of both high and low backdrivability.

Dependencies are inferred from the claim text.