Control device for robot, control method and computer program
AssigneeSony Corporation
InventorKenichiro NAGASAKA
Life of this patent
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Abstract
A control device for a robot including: a hybrid dynamics calculator calculating joint forces that act on immovable joints and the joint accelerations that are generated at movable joints by performing a hybrid dynamics calculation that includes inverse dynamics and forward dynamics using an auxiliary model in which the actuated joints of the robot having the actuated joints and the unactuated joints are immovable; a forward dynamics calculator calculating the acceleration that is generated by known force that acts on the robot using a main model; a joint force determination unit determining the joint force; and a joint force controller controlling the joint force of each joint of the robot.
Claims7
A control device for a robot comprising:
- a hybrid dynamics calculator calculating joint forces that act on immovable joints where joint accelerations are known and the joint accelerations that are generated at movable joints where the joint forces are known by performing a hybrid dynamics calculation that includes inverse dynamics and forward dynamics using an auxiliary model in which the actuated joints of the robot having actuated joints and unactuated joints are immovable;
- a forward dynamics calculator calculating the accelerations that are generated by the known forces that act on the robot using a main model in which all joints of the robot are movable;
- a joint force determination unit determining the joint force for generating desired target acceleration at an arbitrary portion of the robot based on a calculation result from the hybrid dynamics calculator and the forward dynamics calculator;
- and
- a joint force controller setting the determined joint force as the control target value and controlling the joint force of each joint of the robot.
A control method of a robot comprising:
- calculating joint forces acting on immovable joints where joint accelerations are known and the joint accelerations that are generated at movable joints where the joint forces are known by performing a hybrid dynamics calculation that includes inverse dynamics and forward dynamics using an auxiliary model in which the actuated joints of the robot having the actuated joints and the unactuated joints are immovable;
- calculating the accelerations generated by the forces that are known and effected to the robot using a main model in which all joints of the robot are movable;
- determining the joint force for generating desired target acceleration at an arbitrary portion of the robot based on a calculation result from the calculating of the joint forces and the calculating of the accelerations;
- and
- setting the determined joint force as the control target value and controlling a joint force of each joint of the robot.
A computer program that is recorded in a computer readable format, which performs a process for controlling a robot having actuated joints and unactuated joints on the computer, the computer functioning as,
- a hybrid dynamics calculator calculating joint forces that act on immovable joints where joint acceleration is known and the joint accelerations that are generated at movable joints where the joint force is known by performing a hybrid dynamics calculation that includes inverse dynamics and forward dynamics using an auxiliary model in which the actuated joints of the robot are immovable;
- a forward dynamics calculator calculating the acceleration that is generated by known force that acts on the robot using a main model in which all joints of the robot are movable;
- a joint force determination unit determining the joint force for generating desired target acceleration at an arbitrary portion of the robot based on a calculation result from the hybrid dynamics calculator and the forward dynamics calculator;
- and
- a joint force controller setting the determined joint force as the control target value and controlling the joint force of each joint of the robot.
Dependencies are inferred from the claim text.