US 11,850,751 B2
Control device, control method, and control system
Yasuhiro Matsuda, Tokyo (JP); Kenichiro Nagasaka, Tokyo (JP); Hiromasa Masuda, Tokyo (JP); and Kazuo Hongo, Chiba (JP)
Assigned to SONY CORPORATION, Tokyo (JP)
Appl. No. 17/258,857
Filed by SONY CORPORATION, Tokyo (JP)
PCT Filed Jul. 8, 2019, PCT No. PCT/JP2019/026927
§ 371(c)(1), (2) Date Jan. 8, 2021,
PCT Pub. No. WO2020/017370, PCT Pub. Date Jan. 23, 2020.
Claims priority of application No. 2018-134482 (JP), filed on Jul. 17, 2018.
Prior Publication US 2021/0323148 A1, Oct. 21, 2021
Int. Cl. B25J 9/16 (2006.01); B25J 13/08 (2006.01)
CPC B25J 9/1633 (2013.01) [B25J 9/1607 (2013.01); B25J 9/1674 (2013.01); B25J 13/085 (2013.01)] 15 Claims
OG exemplary drawing
 
1. A control device comprising:
a control unit configured to
compare a first external force detected by a force sensor provided in a first portion of a control target and a second external force estimated on a basis of a torque detected by a torque sensor provided in a movable portion of the control target, the movable portion enabling the force sensor to be movable and being different than the first portion of the control target,
correct a torque command value on a basis of a result of the comparison to control an operation of the control target, and
adjust a gain on a basis of a difference between the first external force and the second external force extracted by the comparison and apply the gain to the torque command value to control switching between a first mode where the control target operates based on the first external force detected by the force sensor and the torque detected by the torque sensor and a second mode where the control target operates based on only the first external force detected by the force sensor,
wherein the control unit is implemented via at least one processor.