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POSITION/FORCE CONTROLLER, AND POSITION/FORCE CONTROL METHOD AND PROGRAM

外国特許コード F150008380
掲載日 2015年7月13日
出願国 世界知的所有権機関(WIPO)
国際出願番号 2014JP073083
国際公開番号 WO 2015041046
国際出願日 平成26年9月2日(2014.9.2)
国際公開日 平成27年3月26日(2015.3.26)
優先権データ
  • 特願2013-194704 (2013.9.19) JP
発明の名称 (英語) POSITION/FORCE CONTROLLER, AND POSITION/FORCE CONTROL METHOD AND PROGRAM
発明の概要(英語) Provided is a technique for more appropriately realizing human-like movement by a robot. This position/force controller is provided with: a position detection means for detecting information relating to a position based on the effect of an actuator; a function-dependent force/speed distribution conversion means for performing conversion by distributing control energy to speed or positional energy and force energy in response to functions realized on the basis of speed (position) and force information corresponding to the information relating to the position and on the basis of information serving as a reference for control; a position control amount calculation means for calculating the control amount for speed or position on the basis of the speed or positional energy; a force control amount calculation means for calculating the force control amount on the basis of the force energy; and an integration means for integrating the speed or position control amount and the force control amount and performing a reverse conversion on the speed or position control amount and the force control amount to return the output to the actuator, to determine the input to the actuator.
  • 出願人(英語)
  • ※2012年7月以前掲載分については米国以外のすべての指定国
  • KEIO UNIVERSITY
  • 発明者(英語)
  • OHNISHI KOUHEI
  • SAKAINO SHO
  • NOZAKI TAKAHIRO
国際特許分類(IPC)
指定国 National States: AE AG AL AM AO AT AU AZ BA BB BG BH BN BR BW BY BZ CA CH CL CN CO CR CU CZ DE DK DM DO DZ EC EE EG ES FI GB GD GE GH GM GT HN HR HU ID IL IN IR IS JP KE KG KN KP KR KZ LA LC LK LR LS LT LU LY MA MD ME MG MK MN MW MX MY MZ NA NG NI NO NZ OM PA PE PG PH PL PT QA RO RS RU RW SA SC SD SE SG SK SL SM ST SV SY TH TJ TM TN TR TT TZ UA UG US UZ VC VN ZA ZM ZW
ARIPO: BW GH GM KE LR LS MW MZ NA RW SD SL SZ TZ UG ZM ZW
EAPO: AM AZ BY KG KZ RU TJ TM
EPO: AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR
OAPI: BF BJ CF CG CI CM GA GN GQ GW KM ML MR NE SN TD TG
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