US 12,377,533 B2
Control system, control method, and storage medium
Takahiro Nozaki, Kanagawa (JP)
Assigned to KEIO UNIVERSITY, Tokyo (JP); and Motion Lib, Inc., Kawasakai (JP)
Appl. No. 18/014,116
Filed by KEIO UNIVERSITY, Tokyo (JP); and Motion Lib, Inc., Kawasakai (JP)
PCT Filed Jun. 25, 2021, PCT No. PCT/JP2021/024049
§ 371(c)(1), (2) Date Dec. 30, 2022,
PCT Pub. No. WO2022/004568, PCT Pub. Date Jan. 6, 2022.
Claims priority of application No. 2020-113633 (JP), filed on Jun. 30, 2020.
Prior Publication US 2023/0264342 A1, Aug. 24, 2023
Int. Cl. B25J 3/04 (2006.01); B25J 13/02 (2006.01)
CPC B25J 3/04 (2013.01) [B25J 13/02 (2013.01)] 11 Claims
OG exemplary drawing
 
1. A control system, comprising:
a master device that accepts input for operation;
a slave device that performs an action with respect to an object; and
a control device that controls the slave device in accordance with the operation input to the master device, and also executes control to transfer a reactive force that the slave device receives from the object to the master device,
wherein the control device includes a hardware processor which, under control of a stored program, executes processes comprising:
a data acquisition process including acquiring data of a position or velocity that represents an action of a movable portion of the master device and data of a position or velocity that represents an action of a movable portion of the slave device, and
a command value calculation process including hypothesizing a virtual object that includes the master device and the slave device, and calculating 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, based on the basis of the data of the position or velocity acquired in the data acquisition process, and
wherein the command value calculation process comprises estimating a force acting on the master device and the slave device based on the data of the position or velocity, including a change in position due to external force and a change in position not due to external force, and calculating the command value for causing the master device and the slave device to follow a behavior occurring in the virtual object due to the force estimated to act on the master device and the slave device, based on (i) the data of the position or velocity including the change in position due to external force and the change in position not due to external force, (ii) the force estimated to act on the master device and the slave device, and (iii) an admittance that is set to determine an inertia, a viscosity, and an elasticity of the virtual object.