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Control device for robot, control method and computer program

A technology for controlling equipment and robots, applied in general control systems, program control manipulators, program control and other directions, which can solve problems such as small ground contact area and external force limitation

Inactive Publication Date: 2012-05-16
SONY CORP
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

On the contrary, this type of robot has the problem that due to the small ground contact area, there is a severe limitation on the external force obtained from the environment in order to perform the task
Various methods for accurately controlling the acceleration of the operating space have been proposed (for example, Japanese Unexamined Patent Application Publication Nos. 2009-95959 and 2010-188471), but the target of any of these methods is limited to all joints of Conditions for actuating joints

Method used

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  • Control device for robot, control method and computer program
  • Control device for robot, control method and computer program
  • Control device for robot, control method and computer program

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Embodiment Construction

[0035] Hereinafter, embodiments of the present disclosure are described with reference to the accompanying drawings.

[0036] A robot is generally a link structure configured by multiple rigid bodies connected to each other. In inverted pendulum type robots, bipedal walking type robots, space robots, etc., some joints cannot generate force and can be modeled as non-actuated joints (see description above and Figure 11 to Figure 13 ). For example, in a link structure of a robot or the like, in order to generate a desired velocity at the end of the hand, it is necessary to obtain joint velocities. In addition, in order to generate the desired acceleration, joint forces must be obtained. In systems configured with only actuated joints, either all components of joint velocity or all components of joint acceleration can be directly controlled. However, in systems that include non-actuated joints, there is the problem that the components of the non-actuated joints cannot be direct...

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Abstract

A control device for a robot including: a hybrid dynamics calculator calculating joint forces that act on immovable joints and the joint accelerations that are generated at movable joints by performing a hybrid dynamics calculation that includes inverse dynamics and forward dynamics using an auxiliary model in which the actuated joints of the robot having the actuated joints and the unactuated joints are immovable; a forward dynamics calculator calculating the acceleration that is generated by known force that acts on the robot using a main model; a joint force determination unit determining the joint force; and a joint force controller controlling the joint force of each joint of the robot.

Description

technical field [0001] The present disclosure relates to a control device, a control method and a computer program for a robot configured by a link structure, in particular to a control device, a control method and a program for a robot with non-actuating joints, However, a part of the joint does not generate driving force. Background technique [0002] The superior characteristics of an inverted pendulum-type robot or a biped walking type robot are that, due to its small ground contact area, the robot hardly hinders people when it coexists with people, and the robot Can provide various services to people. On the contrary, this type of robot has the problem that there is a severe limitation on the external force obtained from the environment in order to perform the task due to the small ground contact area. In an inverted pendulum type robot, the rotational support point moment cannot be obtained, and in a biped walking type robot, inequality constraints are added to the m...

Claims

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Application Information

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IPC IPC(8): B25J9/16
CPCG05B2219/39286G05B2219/42153G05B2219/39261B25J9/1607
Inventor 长阪宪一郎
Owner SONY CORP
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