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.
Claims16
A control device comprising:
- a control unit 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 a movable portion of the control target, the movable portion enabling the force sensor to be movable, and corrects the torque command value on the basis of a result of the comparison to control an operation of the control target.
A control method executed by a processor, comprising:
- comparing 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 a movable portion of the control target operating the force sensor and correcting the torque command value on the basis of a comparison result to control an operation of the control target.
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 that detects a torque applied to the movable portion, and a force sensor that detects a first external force applied to a tip end of the arm portion;
- and
- a control device including a control unit that compares the first external force and a second external force estimated on the basis of the torque and corrects a torque command value on the basis of a comparison result to control an operation of the arm device.
Dependencies are inferred from the claim text.