Position/force controller, and position/force control method and storage medium
A position/force controller includes a function-dependent force/speed distribution conversion unit that, on the basis of speed, position and force information relating to a position based on an action of an actuator and control reference information, performs a conversion to distribute control energy to at least one of speed or position energy and force energy according to a function that is being realized. A control amount calculation unit calculates at least one of a speed or position control amount and a force energy on the basis of at least one of the speed or position energy and the force energy distributed by the force/speed distribution conversion unit. An integration unit integrates speed or position control amount with force control amount and, to return an output to the actuator, performs a reverse conversion on the speed or position control amount and the force control amount and determines an input to the actuator.
1. A position/force controller comprising:
an actuator;
a driver that drives the actuator;
a function-dependent force/speed distribution conversion unit that, based on speed or position information and force information corresponding to information relating to a position based on an action of the actuator and based on information serving as a reference for control, performs a conversion to distribute control energy to at least one of speed or position energy and force energy in accordance with a function that is being realized by the position/force controller, thereby converting real space information, in which a speed or position and a force are related to each other, to virtual space information, in which a speed or position and a force are independent of each other;
a control amount calculation unit that calculates at least one of a speed or position control amount and a force control amount based on at least one of the speed or position energy and the force energy distributed by the function dependent force/speed distribution conversion unit; and
an integration unit that uses the speed or position control amount and the force control amount as an input and, in order to return a processing result thereof to the actuator, performs a reverse conversion on the speed or position control amount and the force control amount from the virtual space information to the real space information and determines an input to the actuator,
wherein the driver drives the actuator based on the input determined by the integration unit.
2. The position/force controller according to claim 1 , wherein:
the function-dependent force/speed distribution conversion unit, based on the speed or position information and the force information corresponding to the information relating to the position and based on the information serving as a reference for control, performs, as the conversion, a conversion to distribute control energy to speed or position energy and force energy by a conversion that is specified to match the function that is being realized by the position/force controller;
the control amount calculation unit comprises:
a position control amount calculation unit that calculates the speed or position control amount based on the speed or position energy distributed by the function dependent force/speed distribution conversion unit; and
a force control amount calculation unit that calculates the force control amount based on the force energy distributed by the function-dependent force/speed distribution conversion unit; and
the position/force controller further comprises a scaling unit that applies scaling of at least one of position, force and time to outputs of the actuator.
3. A position/force control method for a position/force controller including an actuator and a driver that drives the actuator, the method comprising:
a function-dependent force/speed distribution conversion step of, based on speed or position information and force information corresponding to information relating to a position based on an action of the actuator and based on information serving as a reference for control, performing a conversion to distribute control energy to at least one of speed or position energy and force energy in accordance with a function that is being realized by the position/force controller, thereby converting real space information, in which a speed or position and a force are related to each other, to virtual space information, in which a speed or position and a force are independent of each other;
a control amount calculation step of calculating at least one of a speed or position control amount and a force control amount based on at least one of the speed or position energy and the force energy distributed in the function-dependent force/speed distribution conversion step;
an integration step of using the speed or position control amount and the force control amount as an input and, in order to return a processing result thereof to the actuator, performing a reverse conversion on the speed or position control amount and the force control amount from the virtual space information to the real space information and determining an input to the actuator; and
a driving step of driving the actuator with the driver based on the input determined in the integration step.
4. The position/force control method according to claim 3 , wherein:
the function-dependent force/speed distribution conversion step, based on the speed or position information and the force information corresponding to the information relating to the position and based on the information serving as a reference for control, performs, as the conversion, a conversion to distribute control energy to speed or position energy and force energy by a conversion that is specified to match the function that is being realized by the position/force controller; and
the control amount calculation step performs:
a position control amount calculation step of calculating the speed or position control amount based on the speed or position energy distributed in the function-dependent force/speed distribution conversion step; and
a force control amount calculation step of calculating the force control amount based on the force energy distributed in the function-dependent force/speed distribution conversion step; and
the position/force control method further comprises a scaling step of applying scaling of at least one of position, force and time to outputs of the actuator.
5. A non-transitory computer readable storage medium having stored therein a program that is executable by a computer of a position/force controller including an actuator and a driver that drives the actuator, the program being executable by the computer to cause the computer to realize functions comprising:
a function-dependent force/speed distribution conversion function that, based on speed or position information and force information corresponding to information relating to a position based on an action of the actuator and based on information serving as a reference for control, performs a conversion to distribute control energy to at least one of speed or position energy and force energy in accordance with an operation that is being realized by the position/force controller, thereby converting real space information, in which a speed or position and a force are related to each other, to virtual space information, in which a speed or position and a force are independent of each other;
a control amount calculation function that calculates at least one of a speed or position control amount and a force control amount based on at least one of the speed or position energy and the force energy distributed by the function-dependent force/speed distribution conversion function;
an integration function that uses the speed or position control amount and the force control amount as an input and, in order to return a processing result thereof to the actuator, performs a reverse conversion on the speed or position control amount and the force control amount from the virtual space information to the real space information and determines an input to the actuator; and
a driving function that controls the driver to drive the actuator based on the input determined by the integration function.
6. The non-transitory computer readable storage medium according to claim 5 , wherein:
the function-dependent force/speed distribution conversion function, based on the speed or position information and the force information corresponding to the information relating to the position and based on the information serving as a reference for control, performs, as the conversion, a conversion to distribute control energy to speed or position energy and force energy by a conversion that is specified to match the operation that is being realized by the position/force controller;
the control amount calculation function comprises:
a position control amount calculation function that calculates the speed or position control amount based on the speed or position energy distributed by the function dependent force/speed distribution conversion function; and
a force control amount calculation function that calculates the force control amount based on the force energy distributed by the function-dependent force/speed distribution conversion function; and
the storage medium further comprises a scaling function that applies scaling of at least one of position, force and time to outputs of the actuator.