Control system, control method, and storage medium

A control method executed by a control device in a control system including a first device that accepts input for operation, a second device that performs an action with respect to an object, and a control device that controls the second device in accordance with the operation input to the first device and also executes control to transfer of reactive force that the second device receives from the object to the first device, the control method comprising:

• data acquiring that includes acquiring data of a position or velocity that represents an action of a movable portion of the first device and data of a position or velocity that represents an action of a movable portion of the second device;
• and
• command value calculating that includes hypothesizing a virtual object that includes the first device and the second device, and calculating a command value for causing the first device and the second device to following behavior expressed in the virtual object by input to the first device and the second device, on the basis of data of the position or velocity acquired in the data acquiring,
• wherein in the command value calculating, force acting on the first device and the second device is estimated on the basis of data of the position or velocity, including change in position due to external force and change in position not due to external force, and the command value for causing the first device and the second device to follow behavior occurring in the virtual object due to the force estimated to act on the first device and the second device is calculated, on the basis of data of the position or velocity including change in position due to external force and change in position not due to external force, the force estimated to act on the first device and the second device, and admittance that is set.

A non-transitory storage medium encoded with a computer-readable program that causes a computer, constituting a control device in a control system including a first device that accepts input for operation, a second device that performs an action with respect to an object, and a control device that controls the second device in accordance with the operation input to the first device and also executes control to transfer of reactive force that the second device receives from the object to the first device, to realize

• data acquiring processing that includes acquiring data of a position or velocity that represents an action of a movable portion of the first device and data of a position or velocity that represents an action of a movable portion of the second device;
• and
• command value calculating processing that includes hypothesizing a virtual object that includes the first device and the second device, and calculating a command value for causing the first device and the second device to following behavior expressed in the virtual object by input to the first device and the second device, on the basis of data of the position or velocity acquired by the data acquiring processing
• wherein the command value calculating processing estimates force acting on the first device and the second device on the basis of data of the position or velocity, including change in position due to external force and change in position not due to external force, and calculates the command value for causing the first device and the second device to follow behavior occurring in the virtual object due to the force estimated to act on the first device and the second device, on the basis of data of the position or velocity including change in position due to external force and change in position not due to external force, the force estimated to act on the first device and the second device, and admittance that is set.