Control device, robot system, robot control method, and robot control program

A robot control method comprising:

• performing, using a control parameter, force control comprising moving a slave in accordance with an operation force exerted on a master from a user to apply a treatment to an object and of moving the master in accordance with a reaction force exerted on the slave from the object;
• estimating a dynamic characteristic of the user, estimating a dynamic characteristic of the master, and estimating a dynamic characteristic of the object;
• generating a first control parameter being the control parameter adjusted in accordance with the dynamic characteristic of the user;
• generating a second control parameter being the control parameter adjusted in accordance with the dynamic characteristic of the object;
• adjusting the first control parameter of the force control in accordance with the estimated dynamic characteristic of the user and the estimated dynamic characteristic of the master such that the frequency characteristic of the force control with the adjusted first control parameter applied, approaches a target frequency characteristic of the master, and
• adjusting the second control parameter in accordance with the estimated dynamic characteristic of the user and the estimated dynamic characteristic of the object such that the frequency characteristic of the force control with the adjusted second control parameter applied, approaches a target frequency characteristic of the slave, wherein
• performing force control further comprises performing the force control by selectively using the first control parameter and the second control parameter.

A non-transitory computer readable medium storing a robot control program for controlling a robot system, the robot system including a master on which an operation force is exerted from a user and a slave that applies a treatment to an object, the robot control program, which when read and executed, causes the computer to perform operations comprising:

• performing, using a control parameter, force control comprising moving the slave in accordance with the operation force exerted on the master to apply the treatment to the object and of moving the master in accordance with a reaction force exerted on the slave from the object;
• estimating a dynamic characteristic of the user, estimating a dynamic characteristic of the master, and estimating a dynamic characteristic of the object;
• generating a first control parameter being the control parameter adjusted in accordance with the dynamic characteristic of the user;
• generating a second control parameter being the control parameter adjusted in accordance with the dynamic characteristic of the object;
• adjusting the first control parameter of the force control in accordance with the estimated dynamic characteristic of the user and the estimated dynamic characteristic of the master such that the frequency characteristic of the force control with the adjusted first control parameter applied, approaches a target frequency characteristic of the master, and
• adjusting the second control parameter in accordance with the estimated dynamic characteristic of the user and the estimated dynamic characteristic of the object such that the frequency characteristic of the force control with the adjusted second control parameter applied, approaches a target frequency characteristic of the slave, wherein
• performing force control further comprises performing the force control by selectively using the first control parameter and the second control parameter.