Title:
CONTROL SYSTEM AND CONTROL METHOD, AND ARM SYSTEM
Document Type and Number:
Japanese Patent JP2022060279
Kind Code:
A
Abstract:
To provide a control system for controlling a robot device with a multilink structure in which a plurality of links are connected by a joint part.SOLUTION: A control system sets an exercise purpose and constraints on an operation space describing inertia between force acting on a multilink structure and acceleration of the multilink structure in generalized reverse dynamics, calculates virtual force acting on the operation space on the basis of a motion equation related to the operation space including a term of operation space bias acceleration considering gravity compensation corresponding to inclination information of the robot device in order to achieve operation space acceleration representing the exercise purpose, and calculates a torque command value of a joint part on the basis of real force converted from the virtual force.SELECTED DRAWING: Figure 9
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Inventors:
MATSUDA YASUHIRO
ARAI JUN
KASAI SHIGEYOSHI
KURODA YOHEI
KOKUBO WATARU
ARAI JUN
KASAI SHIGEYOSHI
KURODA YOHEI
KOKUBO WATARU
Application Number:
JP2022015331A
Publication Date:
April 14, 2022
Filing Date:
February 03, 2022
Export Citation:
Assignee:
SONY GROUP CORP
International Classes:
B25J9/16; A61B34/30
Domestic Patent References:
| JP2011212835A | 2011-10-27 | |||
| JP2016518199A | 2016-06-23 |
Foreign References:
| CN102551994A | 2012-07-11 | |||
| WO2015046081A1 | 2015-04-02 |
Attorney, Agent or Firm:
Masaaki Miyata
Eiji Yamada
Eiji Sasaki
Toshio Sawada
Daido Patent Office
Eiji Yamada
Eiji Sasaki
Toshio Sawada
Daido Patent Office