# US 2023/0264342 A1 · Control system, control method, and storage medium > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2023/0264342 A1 - Document ID: US20230264342A1 - Status: Published application - Kind: A1 - Application number: 18/014,116 - Filed: 2021-06-25 - Published: 2023-08-24 - Earliest claimed: 2020-06-30 - Assignees: Keio University - Applicants: Keio University - Inventors: Takahiro NOZAKI - Web page: https://patentgrep.com/patent/US20230264342A1 ## CPC - B25J 3/04: involving servo mechanisms (servo-actuated heads B25J15/02) - B25J 9/1689: {Teleoperation} - B25J 13/02: Hand grip control means {(handles or pedals for crane control B66C13/56; for measuring the force applied to control members G01L5/22; hand-held casings for switching devices, e.g. joy-sticks H01H9/0214)} - B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50}) ## Abstract A control system includes a master device, a slave device, and a control device that controls the master device and the slave device. In the control device, a response value acquisition unit acquires data of physical quantities representing action of the movable portion of the master device, and data of physical quantities representing action of the movable portion of the slave device. A command value calculation unit hypothesizes a virtual object that includes the master device and the slave device, and calculates a command value for causing the master device and the slave device to follow behavior expressed in the virtual object by input to the master device and the slave device, on the basis of the data of physical quantities acquired by the response value acquisition unit. ## Claims ### Claim 1 A control system, comprising: 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 reactive force that the second device receives from the object to the first device, wherein the control device includes: a data acquirer for 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 a command value calculator for 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 the data of the position or velocity acquired by the data acquirer, wherein the command value calculator 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. ### Claim 2 (canceled) ### Claim 3 (depends on 1) The control system according to claim 1, wherein the command value calculator calculates the command value for the first device or the second device on the basis of a difference between at least one of velocity, position, and acceleration, of the virtual object, obtained by multiplying the force input to the first device and the second device by admittance, and at least one of the velocity, position, and acceleration of the first device or the second device. ### Claim 4 (depends on 1) The control system according to claim 1, wherein the command value calculator calculates the command value by adding a feed-forward component based on force estimated to act on the first device and the second device. ### Claim 5 (depends on 1) The control system according to claim 1, wherein at least one of the first device and the second device is configured as a device that is virtual, and wherein the command value calculator calculates the command value for causing the first device and the second device to follow the behavior of the virtual object that is based on an action of the device that is virtual. ### Claim 6 (depends on 1) The control system according to claim 1, wherein at least one of the first device and the second device is configured as a device that is virtual, which executes a particular action model, and wherein the command value calculator calculates the command value for causing the first device and the second device to follow the behavior of the virtual object, which is based on the particular action model. ### Claim 7 (depends on 1) The control system according to claim 1, wherein, in output of at least one of the first device and the second device, scaling is performed in which at least one of force, position, and velocity is enlarged or reduced. ### Claim 8 (depends on 1) The control system according to claim 1, wherein a parameter relating to control of at least one of the first device and the second device is recorded in time sequence. ### Claim 9 (depends on 1) The control system according to claim 1, wherein an action is reproduced by reading out a parameter relating to control of at least one of the first device and the second device that is recorded, in time sequence, and controlling the first device or the second device on the basis of the parameter. ### Claim 10 (depends on 1) The control system according to claim 1, wherein information relating to a physical property of the object is acquired on the basis of a parameter relating to control of at least one of the first device and the second device. ### Claim 11 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. ### Claim 12 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.