Position/force controller, and position/force control method and storage medium
A position/force controller performs a first conversion for distributing control energy to at least one of velocity or position energy and force energy, in accordance with a function to be realized, based on velocity (or position) and force information, which correspond to information relating to a position based on an operation of an actuator, and information serving as reference of control. The position/force controller calculates at least one of a velocity or position control amount and a force control amount based on at least one of the energies obtained through the distribution. The position/force controller integrates the calculated control amounts, performs a second conversion, and determines input to the actuator. The position/force controller performs a process, corresponding to increasing or decreasing performed on at least one of the velocity or position energy and the force energy together or independently, with satisfaction of a condition set for the control energy.
1. A position/force controller comprising:
an actuator that acts on an object by output and receives a reaction force from the object as input;
a function-dependent force or velocity distribution converter for performing a first conversion for distributing control energy to at least one of velocity or position energy and force energy, the distributing being performed in accordance with a control function of velocity and force that is being realized as an action of the actuator, the distributing being performed based on velocity or position information and force information and information serving as reference of control, the velocity or position information and force information corresponding to information relating to a position based on an operation of the actuator;
a control-amount calculator for calculating at least one of a velocity or position control amount and a force control amount, the calculating being performed based on at least one of the velocity or position energy and the force energy, the velocity or position energy and the force energy being determined through the distribution performed by the function-dependent force or velocity distribution converter; and
an integrator for integrating the velocity or position control amount with the force control amount, performing a second conversion on the velocity or position control amount and the force control amount so as to return the integrated output to the actuator, and determining input to the actuator,
wherein:
the determining input to the actuator from the distribution result of the control energy obtained through the first conversion includes an increase/decrease process corresponding to increasing or decreasing performed on at least one of the velocity or position energy and the force energy together or independently, the increase/decrease process being performed based on a condition that is set for the control energy,
the function-dependent force or velocity distribution converter converts a first coordinate system, in which a velocity or position and a force are related to each other in real space, to a second coordinate system, in which the velocity or position and the force are independent of each other in virtual space through the first conversion,
the control-amount calculator determines a distribution point of the velocity or position energy and the force energy within a range defined by limits of velocity or position, force, and supplied energy in the second coordinate system,
the integrator determines the input to the actuator based on the velocity or position energy and the force energy corresponding to the determined distribution point through the second conversion, and
in the increase/decrease process corresponding to increasing or decreasing performed on at least one of the velocity or position energy and the force energy together or independently, at least one of the velocity or position energy and the force energy is changed within the range defined by the limits of velocity or position, force, and supplied energy in the second coordinate system.
2. The position/force controller according to claim 1 , wherein the second conversion is a conversion different from reverse conversion of the first conversion, and at least one of the velocity or position control amount and the force control amount is increased or decreased together or independently.
3. The position/force controller according to claim 1 , wherein the second conversion is reverse conversion of the first conversion, and the whole energy is increased or decreased in output from the integrator.
4. The position/force controller according to claim 1 , further comprising:
a second actuator different from the actuator,
wherein the actuator operates as one of a master device and a slave device, and the second actuator operates as the other one of the master device and the slave device.
5. The position/force controller according to claim 1 , wherein, based on a parameter obtained in bilateral control performed between the actuator operating as one of a master device and a slave device and another actuator operating as the other of the master device and the slave device, the actuators are controlled in a state in which the velocity or position energy and the force energy for the master device are different from the velocity or position energy and the force energy for the slave device.
6. A position/force control method executed by a position/force controller having an actuator that acts on an object by output and receives a reaction force from the object as input, the position/force control method comprising:
performing a first conversion for distributing control energy to at least one of velocity or position energy and force energy, the distributing being performed in accordance with a control function of velocity and force that is being realized as an action of the actuator, the distributing being performed based on velocity or position information and force information and information serving as reference of control, the velocity or position information and force information corresponding to information relating to a position based on an operation of the actuator;
calculating at least one of a velocity or position control amount and a force control amount, the calculating being performed on the basis of at least one of the velocity or position energy and the force energy, the velocity or position energy and the force energy being determined through the distribution; and
integrating the velocity or position control amount with the force control amount, performing a second conversion on the velocity or position control amount and the force control amount so as to return the integrated output to the actuator, and determining input to the actuator,
wherein:
the determining input to the actuator from the distribution result of the control energy obtained through the first conversion includes an increase/decrease process corresponding to increasing or decreasing performed on at least one of the velocity or position energy and the force energy together or independently, the increase/decrease process being performed based on a condition that is set for the control energy,
the performing the first conversion converts a first coordinate system, in which a velocity or position and a force are related to each other in real space, to a second coordinate system, in which the velocity or position and the force are independent of each other in virtual space through the first conversion,
the calculating at least one of the velocity or position control amount and the force control amount determines a distribution point of the velocity or position energy and the force energy within a range defined by limits of velocity or position, force, and supplied energy in the second coordinate system,
the integrating the velocity or position control amount with the force control amount determines the input to the actuator based on the velocity or position energy and the force energy corresponding to the determined distribution point through the second conversion, and
in the increase/decrease process corresponding to increasing or decreasing performed on at least one of the velocity or position energy and the force energy together or independently, at least one of the velocity or position energy and the force energy is changed within the range defined by the limits of velocity or position, force, and supplied energy in the second coordinate system.
7. A non-transitory storage medium encoded with a computer-readable program that is executable by a processor of a computer of a position/force controller having an actuator that acts on an object by output and receives a reaction force from the object as input, the program being executable by the processor to control the processor to perform operations comprising:
performing a first conversion for distributing control energy to at least one of velocity or position energy and force energy, the distributing being performed in accordance with a control function of velocity and force that is being realized as an action of the actuator, the distributing being performed based on velocity or position information and force information and information serving as reference of control, the velocity or position information and force information corresponding to information relating to a position based on an operation of the actuator;
calculating at least one of a velocity or position control amount and a force control amount, the calculating being performed based on at least one of the velocity or position energy and the force energy, the velocity or position energy and the force energy being determined through the distribution; and
integrating the velocity or position control amount with the force control amount, performing a second conversion on the velocity or position control amount and the force control amount so as to return the integrated output to the actuator, and determining input to the actuator,
wherein:
the determining input to the actuator from the distribution result of the control energy obtained through the first conversion includes an increase/decrease process corresponding to increasing or decreasing performed on at least one of the velocity or position energy and the force energy together or independently, the increase/decrease process being performed based on a condition that is set for the control energy,
the performing the first conversion converts a first coordinate system, in which a velocity or position and a force are related to each other in real space, to a second coordinate system, in which the velocity or position and the force are independent of each other in virtual space through the first conversion,
the calculating at least one of the velocity or position control amount and the force control amount determines a distribution point of the velocity or position energy and the force energy within a range defined by limits of velocity or position, force, and supplied energy in the second coordinate system,
the integrating the velocity or position control amount with the force control amount determines the input to the actuator based on the velocity or position energy and the force energy corresponding to the determined distribution point through the second conversion, and
in the increase/decrease process corresponding to increasing or decreasing performed on at least one of the velocity or position energy and the force energy together or independently, at least one of the velocity or position energy and the force energy is changed within the range defined by the limits of velocity or position, force, and supplied energy in the second coordinate system.