Application of drive units with admittance control

Abstract

The drive unit (10A) applies a driving force corresponding to a target driving force command (τ d ) to the environment (50). The drive unit (10A) includes: a parameter storage device (30A) that stores dynamic characteristic parameters of a first imaginary object and a second imaginary object that are affected by an imaginary interaction force (λ R ); a force detector (35) that outputs a measurement result of the driving force as a driving force measurement value (τ s ); an admittance model calculation device (31A) that outputs a displacement of the first imaginary object obtained by calculating based on the stored dynamic characteristic parameters, the target driving force command (τ d ), and the driving force measurement value (τ s ); and a position control drive device (33A) that follows a target position command and operates. The force detector (35) is disposed between the position control drive device (33A) and the environment (50), and the target position command corresponds to the displacement of the first imaginary object output from the admittance model calculation device (31A). The drive unit (10A) has both the advantages of high reverse drivability and low reverse drivability.

Description

Technical Field

[0001] The present invention relates to a drive unit that uses admittance control to achieve force control based on a position-controlled drive device or a speed-controlled drive device. Background Art

[0002] Conventionally, various control methods have been used to control the force generated by a drive device (actuator or robot integrated therein). For example, a control method called admittance control is often used when the drive device can be position-controlled or speed-controlled and the drive force exerted by the drive device on the environment is measured using a force meter.

[0003] exist Fig.10 1 shows a typical drive unit 100 to which admittance control is applied. Generally speaking, in admittance control, a virtual object having ideal dynamic characteristics is assumed, and the motion of the virtual object is simulated using the admittance model operation device 103 (positive kinematics simulation) based on the information of the driving force measured by the force meter 106. At this time, the drive device 111 is position-controlled by the position controller 110 in a manner that follows the motion of the virtual object as a simulation result. If the position control is sufficiently accurate, the reaction of the drive device 111 to the external force from the environment 50 is close to the ideal dynamic characteristics of the virtual object. That is, if admittance control is used, force control according to the ideal dynamic characteristics can be achieved using the position-controlled drive device 104.

[0004] It should be noted that, for example, Patent Document 1 describes that a virtual object is assumed in admittance control.

[0005] However, it is known that when the drive device 111 is a general rotary motor and the transmission device 105 composed of a speed reducer is provided on the output side thereof, the so-called reverse drive performance is reduced due to the relatively large inertia and friction (larger inertia and friction than those in the drive device 111) existing in the transmission device 105 (for example, refer to non-patent document 1). If the reverse drive performance is reduced, it is difficult for the drive device 111 to smoothly or flexibly respond to the external force from the environment 50.

[0006] In this regard, according to the above-mentioned admittance control, if the force measuring device 106 is provided on the output shaft of the transmission device 105, which becomes the final output shaft, and the admittance control is applied, and the dynamic characteristics of the virtual object are set to low inertia and low friction, even if the reverse driveability of the transmission device 105 is low, high reverse driveability with low inertia and low friction can be achieved for the external force from the environment 50. If the reverse driveability can be improved, it can be expected that the safety of the drive device 111 will be improved, and the drive device 111 can smoothly adapt to the environment 50.

[0007] Prior Art Literature

[0008] Patent Literature

[0009] Patent Document 1: Japanese Patent No. 6032811

[0010] Non-patent literature

[0011] Non-patent document 1: Koichi Suzumori, “Backward drivability of robots and actuators”, Journal of the Robotics Society of Japan, July 2013, Vol. 31, No. 6, pp. 548-551 Summary of the invention

[0012] Problems to be solved by the invention

[0013] However, if the inertia of the virtual object is set too low in order to achieve high reverse drivability, the acceleration of the virtual object becomes too large with respect to the driving force, and the position control in the position control drive device 104 becomes unstable.

[0014] In addition, low reverse drivability is sometimes preferred depending on the purpose of the drive unit 100. For example, for the drive unit 102 including a reducer with a high reduction ratio as the transmission device 105, the apparent mechanism inertia (i.e., the inertia of the actual drive unit 102) is relatively large, but if the inertia of the virtual object is set in a manner that matches the mechanism inertia, it is less likely to impose a burden on the drive device 111 and the stability of the position control can be improved.

[0015] Moreover, by not simply reducing the friction of the imaginary object but introducing friction with good properties (such as linear viscous friction, ideal Coulomb friction), it is possible to achieve the following functions: (1) the drive device 111 will not shake but remain stationary when it should be stationary, and (2) the drive device 111 will not move at an excessively high speed but will move smoothly and briskly when it should move.

[0016] Thus, high back-driveability and low back-driveability each have advantages. However, in conventional admittance control that assumes only a single virtual object, it is difficult to achieve both the advantages of high back-driveability and the advantages of low back-driveability.

[0017] The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a drive unit having both the advantages of high reverse drivability and low reverse drivability.

[0018] Solutions to Solve Problems

[0019] In order to solve the above-mentioned problems, the first driving unit of the present invention causes a driving force corresponding to a target driving force instruction given from the outside to act on the environment. The first driving unit has the following characteristics, and the driving unit includes: a parameter storage device, which stores dynamic characteristic parameters of a first virtual object and a second virtual object affected by an imaginary interaction force; a force meter, which outputs a measurement result of the driving force as a driving force measurement value; an admittance model operation device, which outputs a displacement of the first virtual object obtained by performing calculations based on the dynamic characteristic parameters of the first virtual object and the second virtual object stored in the parameter storage device, the target driving force instruction, and the driving force measurement value; and a position control driving device, which acts on the environment by following the target position instruction and performing an action; the force meter is arranged between the position control driving device and the environment, and the target position instruction corresponds to the displacement of the first virtual object output from the admittance model operation device.

[0020] The position control drive device of the first drive unit is, for example, a single-axis device that operates in accordance with a target position command.

[0021] In addition, in order to solve the above-mentioned problem, the second drive unit of the present invention causes a drive force corresponding to a target drive force command given from the outside to act on the environment, and the drive unit has the following characteristics, the drive unit includes: a parameter storage device, which stores dynamic characteristic parameters of a first virtual object and a second virtual object affected by a virtual interaction force; a force meter, which outputs a measurement result of the drive force as a driving force measurement value; an admittance model operation device, which outputs a speed of the first virtual object obtained by performing an operation based on the dynamic characteristic parameters of the first virtual object and the second virtual object stored in the parameter storage device, the target drive force command, and the driving force measurement value; and a speed control drive device, which acts on the environment by following the target speed command, the force meter is arranged between the speed control drive device and the environment, and the target speed command corresponds to the speed of the first virtual object output from the admittance model operation device.

[0022] The speed control drive device of the second drive unit is, for example, a single-axis device that operates in accordance with a target speed instruction.

[0023] Preferably, the dynamic characteristic parameters of the first virtual object and the second virtual object stored in the parameter storage devices of the first and second drive units can be changed from the outside.

[0024] The above-mentioned first and second driving units may also have the following characteristics, that is, the driving force measurement value only directly acts on the dynamic characteristics of the first virtual object in the calculation of the admittance model calculation device, the target driving force instruction only directly acts on the dynamic characteristics of the second virtual object in the calculation of the admittance model calculation device, and the dynamic characteristics of the first virtual object and the second virtual object only interact with each other through the virtual interaction force output by the virtual interaction force model.

[0025] Alternatively, the parameter storage devices of the first and second driving units further store interaction parameters of the hypothetical interaction force model (including an upper limit value and a lower limit value of the hypothetical interaction force).

[0026] The hypothetical interaction force model of the first and second driving units may also have the function of making the relative displacement or relative velocity generated between the first hypothetical object and the second hypothetical object converge to zero. In this case, the parameter storage device of the first and second driving units may also store the interaction parameters of the hypothetical interaction force model (including the above-mentioned converged parameters).

[0027] It is preferable that the interaction parameters of the virtual interaction force model stored in the parameter storage device of the first and second drive units can be changed from the outside.

[0028] Effects of the Invention

[0029] According to the present invention, it is possible to provide a drive unit having both the advantages of high reverse drivability and low reverse drivability. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 is a schematic physical diagram of a driving unit according to a first embodiment of the present invention.

[0031] Figure 2 is a block diagram of a driving unit according to a first embodiment of the present invention.

[0032] Figure 3 It is a diagram showing the relationship between the first virtual object and the second virtual object in the present invention.

[0033] Figure 4 is a schematic physical diagram of a driving unit according to a second embodiment of the present invention.

[0034] Figure 5 is a block diagram of a driving unit according to a second embodiment of the present invention.

[0035] Figure 6 is a schematic physical diagram of a driving unit according to a third embodiment of the present invention.

[0036] Figure 7is a block diagram of a driving unit according to a third embodiment of the present invention.

[0037] Figure 8 It is a schematic physical diagram of a drive unit according to a modified example of the present invention.

[0038] Fig. 9 It is a block diagram of a driving unit according to a modified example of the present invention.

[0039] Fig.10 This is a block diagram of a conventional drive unit. DETAILED DESCRIPTION

[0040] Hereinafter, several embodiments of the driving unit of the present invention will be described with reference to the accompanying drawings.

[0041] [First embodiment]

[0042] exist Figure 1 1 is a schematic physical diagram of a drive unit 10A according to a first embodiment of the present invention. The drive unit 10A of this embodiment is configured to be in accordance with a target drive force command τ given from the outside. d The corresponding driving force acts on the environment, and a control unit 20A and a driving unit 21A are provided.

[0043] The control unit 20A includes a microprocessor and a volatile / nonvolatile memory and the like included in the microprocessor.

[0044] On the other hand, the drive unit 21A includes: a drive device 41 including a single-axis rotary motor; a position measuring device 42 that measures the displacement of the drive device 41 and outputs the measured result as a position measurement value; a transmission device 34 that is provided on the output shaft of the drive device 41 and includes a speed reducer; and a force measuring device 35 that is provided at the end (final output shaft) of the transmission device 34 and includes a torque sensor. The force measuring device 35 measures the driving force that the drive unit 10A exerts on the environment and outputs the measured result as a driving force measurement value τ s The driving device 41 is position-controlled by the driving current given from the control unit 20A.

[0045] It should be noted that the drive device 41 may also be any actuator or multi-axis robot. The transmission device 34 may also be any power transmission system (clutch, transmission, drive shaft, connecting rod, etc.) that converts the internal driving force of the drive device 41 into an appropriate form and transmits it to the environment. In addition, when the drive device 41 is a translation system, the force measuring device 35 is preferably a force sensor.

[0046] exist Figure 21 shows a block diagram of the drive unit 10A of the present embodiment. As shown in the figure, the control unit 20A of the drive unit 10A includes a parameter storage device 30A, an admittance model calculation device 31A, an inverse model calculation device 32A, and a position controller 40 that constitutes a position control drive device 33A together with the aforementioned drive device 41 and position measuring device 42. The position control drive device 33A operates in accordance with the target position instruction.

[0047] The admittance model calculation device 31A is configured to calculate the target driving force command τ according to the target driving force command τ. d And the driving force measurement value τ s The simultaneous differential equations composed of mathematical expressions (1) to (3) are integrated over time to simulate the motions of the first virtual object and the second virtual object.

[0048] [Number 1]

[0049] [Dynamic characteristics of the first hypothetical object]

[0050] κMp″1+γDp′1=-τ s -λ R ···(1)

[0051] [Number 2]

[0052] [Dynamic characteristics of the second hypothetical object]

[0053] (1-κ)Mp″2+(1-γ)Dp′2=τ d +λ R ···(2)

[0054] [Number 3]

[0055] [Hypothetical interaction force model]

[0056] λ R =λ R (p″1, p′1, p1, p″2, p′2, p2)···(3)

[0057] in,

[0058] M, κ: total inertia of imaginary object, inertia distribution rate (0<κ<1)

[0059] D, γ: total viscous friction of the imaginary object, viscous friction distribution rate (0<γ<1)

[0060] p1, p'1, ​​p"1: displacement, velocity, acceleration of the first imaginary object

[0061] p2, p'2, p"2: displacement, velocity, acceleration of the second imaginary object

[0062] λR : Hypothetical interaction force.

[0063] From the viewpoint of ensuring control stability and reducing the burden on the mechanism, it is preferable to set the virtual object total inertia M to be consistent with the actual total inertia of the mechanism of the drive unit 21A. However, as in the so-called model-based control, there is no need to worry about modeling errors, and even if there are errors, there is no problem as long as the stability of control can be ensured.

[0064] On the other hand, the virtual object total viscous friction D does not need to match the actual total viscous friction of the mechanism of the drive unit 21A. However, since viscous friction affects the stability of control and the improvement of positioning performance, it needs to be appropriately set in consideration of the overall balance.

[0065] The setting of the inertia distribution rate κ and the viscous friction distribution rate γ will be described later.

[0066] The parameter storage device 30A stores the virtual object total inertia M, inertia distribution rate κ, virtual object total viscous friction D, and viscous friction distribution rate γ as the first virtual object dynamic characteristic parameters and the second virtual object dynamic characteristic parameters. In this embodiment, these parameters can be changed externally at any timing.

[0067] It should be noted that the parameter storage device 30A may store the first virtual object inertia M1 (=κM) and the first virtual object viscous friction D1 (=γD) as the first virtual object dynamic characteristic parameters, and the second virtual object inertia M2 (=(1-κ)M) and the second virtual object viscous friction D2 (=(1-γ)D) as the second virtual object dynamic characteristic parameters instead of M, κ, D and γ. It is also preferred that these parameters can be changed from the outside at any time.

[0068] exist Figure 3 As can be seen from the figure, in the calculation of the admittance model calculation device 31A, the dynamic characteristics of the first virtual object and the dynamic characteristics of the second virtual object are separated and only the virtual interaction force λ output by the virtual interaction force model is used. R In addition, in the calculation of the admittance model calculation device 31A, the target driving force instruction τ d The dynamic characteristics directly acting only on the second imaginary object, the driving force measurement value τ s Directly acts only on the dynamic characteristics of the first imaginary object.

[0069] Refer again Figure 2The inverse model calculation device 32A converts the displacement p1 of the first virtual object (i.e., the terminal displacement of the drive unit 10A) obtained by the calculation of the admittance model calculation device 31A into a target position instruction q for the position control drive device 33A through inverse calculation. d .

[0070] More specifically, in the present embodiment where the transmission device 34 includes a speed reducer, there is a geometric relationship between the displacement q of the position control drive device 33A and the terminal displacement p of the drive unit 10A as shown in the mathematical formula (4) (where n r is the reduction ratio of the reducer), so the inverse model of the transmission device represented by mathematical formula (5) is used to obtain the target position instruction q for the position control drive device 33A: d .

[0071] [Number 4]

[0072]

[0073] [Number 5]

[0074] q d =p -1 (p1) = n r p1···(5)

[0075] That is, the inverse model calculation device 32A performs the inverse calculation (inverse kinematics) represented by the mathematical formula (7) when the geometric relationship (kinematics) represented by the mathematical formula (6) exists between the input and output of the transmission device 34 .

[0076] [Number 6]

[0077] p=p(q)···(6)

[0078] [Number 7]

[0079] q=p -1 (p) …(7)

[0080] The position controller 40 constituting the position control drive device 33A performs position control on the drive device 41 according to the target position command. At this time, the position controller 40 refers to the position measurement value output by the position measuring device 42.

[0081] Thus, in the drive unit 10A of the present embodiment, based on the information of the driving force measured by the force measuring device 35 (driving force measured value τ s ) for the hypothetical interaction force λ RThe motion of the two connected virtual objects (the first virtual object and the second virtual object) is simulated, and the position of the drive device 41 is controlled in a manner to follow the motion of the first virtual object. Therefore, according to the drive unit 10A, by appropriately setting the distribution rates κ and γ, it is possible to take into account both the advantages of high reverse driveability and the advantages of low reverse driveability.

[0082] [Second embodiment]

[0083] exist Figure 4 as well as Figure 5 2 shows a drive unit 10B according to a second embodiment of the present invention. The drive unit 10B according to this embodiment is different from the drive unit 10A in that a control unit 20B is provided instead of the control unit 20A and a drive unit 21B is provided instead of the drive unit 21A.

[0084] The control unit 20B is different from the control unit 20A in that it includes an inverse model calculation device 32B instead of the inverse model calculation device 32A and in that it includes a speed controller 43 instead of the position controller 40 , but is similar to the control unit 20A in other points.

[0085] On the other hand, the drive unit 21B is different from the drive unit 21A in that it includes a speed measuring device 44 instead of the position measuring device 42 , but is common to the drive unit 21A in other points.

[0086] The inverse model calculation device 32B converts the speed p′1 of the first virtual object obtained by the calculation of the admittance model calculation device 31A into a target speed command for the speed control drive device 33B through inverse calculation.

[0087] The speed controller 43 constituting the speed control drive device 33B controls the speed of the drive device 41 according to the target speed command. At this time, the speed controller 43 refers to the speed (speed measurement value) of the drive device 41 measured by the speed measuring device 44.

[0088] According to the drive unit 10B of the present embodiment, similarly to the first embodiment, by appropriately setting the distribution ratios κ and γ, it is possible to achieve both the advantage of high reverse drivability and the advantage of low reverse drivability.

[0089] [Third embodiment]

[0090] exist Figure 6 as well as Figure 7 10C according to a third embodiment of the present invention is shown in FIG. The drive unit 10C of this embodiment is different from the drive unit 10A in that it includes a control unit 20C instead of the control unit 20A, but is similar to the drive unit 10A in that it includes a drive unit 21A.

[0091] The control unit 20C is different from the control unit 20A in that it includes a parameter storage device 30C instead of the parameter storage device 30A and an admittance model calculation device 31C instead of the admittance model calculation device 31A, but is similar to the control unit 20A in other points.

[0092] The admittance model calculation device 31C is configured to calculate the target driving force command τ according to the target driving force command τ. d And the driving force measurement value τ s The simultaneous differential equations consisting of the above-mentioned mathematical expressions (1), (2) and mathematical expressions (8), (9) are integrated over time to simulate the motions of the first virtual object and the second virtual object.

[0093] [Number 8]

[0094] [Hypothetical interaction force model]

[0095]

[0096] λ RPD =λ RPD (p′1, p′2, p1, p2) = K RP (p2-p1)+K RD (p′2-p′1)···(9)

[0097] in,

[0098] R upper : The upper limit of the hypothetical interaction force

[0099] R lower : The lower limit of the hypothetical interaction force

[0100] K RP , K RD : Gain of the hypothetical interaction force model.

[0101] The parameter storage device 30C stores, in addition to the first virtual object dynamic characteristic parameter and the second virtual object dynamic characteristic parameter, upper and lower limits R of the virtual interaction force as virtual interaction force parameters. upper , R lower and the gain K of the hypothetical interaction force model RP , K RD These parameters are also preferably changeable from the outside at any timing.

[0102] In the drive unit 10C of the present embodiment, the following two functions are added to the virtual interaction force model.

[0103] First, the "virtual torque limiting function" will be described.

[0104] When the external force from the environment 50 is R lower Above R upper The following is the λ of equation (9): RPD As is, the imaginary interaction force λ R At this time, the first virtual object and the second virtual object can be regarded as moving together with the external force. On the other hand, if the external force exceeds R upper The external force or less than R lower The first imaginary object and the second imaginary object move relative to each other. In other words, the first imaginary object slides relative to the second imaginary object.

[0105] In this embodiment, as in the first embodiment, the result of the inverse calculation of the displacement p1 of the first virtual object is set as the target position instruction of the position control drive device 33A. Therefore, if the first virtual object slides relative to the second virtual object, the environment 50 side will feel as if the final output shaft of the drive unit 10C slides. In addition, at this time, the torque actually applied to the mechanical parts constituting the drive unit 21A is limited.

[0106] In summary, according to this function, by R By setting upper and lower limits, the load applied to the mechanical components (especially the easily damaged transmission device 34 and the force measuring device 35) constituting the driving unit 21A is suppressed to a certain value or less, thereby preventing these components from being damaged, etc. That is, according to the driving unit 10C of this embodiment, the hardware can be protected by software.

[0107] It should be noted that, when the driving device 41 is a parallel system, the force actually applied to the mechanical components constituting the driving unit 21A is limited. Therefore, in this case, this function should be called "virtual force limitation".

[0108] Next, the "slide recovery function" will be described.

[0109] If the virtual torque limit (virtual force limit) is activated, the first virtual object and the second virtual object move relative to each other. According to this function, the relative displacement or relative speed of the first virtual object and the second virtual object can be converged to zero. In other words, according to this function, the deviation caused by sliding can be restored.

[0110] In order to realize this function, in this embodiment, λ is determined as shown in equation (9): RPD Thus, the first virtual object and the second virtual object are connected by a virtual spring damper, thereby obtaining the above-mentioned effect. The degree (strength) of convergence can be determined according to the gain K RP , K RD to adjust.

[0111] According to the driving unit 10C of the present embodiment, similarly to the first and second embodiments, it is possible to achieve both the advantage of high reverse drivability and the advantage of low reverse drivability.

[0112] The effects of this embodiment will be described in further detail using an example in which the inertia distribution rate κ is set to a relatively small 0.1, thereby setting the inertia of the first virtual body to 0.1M and the inertia of the second virtual body to 0.9M.

[0113] When the virtual torque limit is not working, the first virtual object and the second virtual object move as one, so the inertia of the final output shaft of the drive unit 10C is felt to be M (= 0.1M + 0.9M) on the side of the environment 50. Therefore, according to the drive unit 10C of this embodiment, by making this M consistent with the actual inertia of the drive unit 21A, it is possible to prevent the load from being applied to the drive device 41 and improve the stability of the position control. That is, the advantage of low reverse drivability can be obtained.

[0114] On the other hand, during the virtual torque limiting operation, the inertia of the final output shaft viewed from the environment 50 side is minimized and reduced to 0.1 M. Therefore, according to the drive unit 10C of this embodiment, the mechanical components constituting the drive unit 21A can be protected from overload. That is, the advantage of high reverse drivability can be obtained.

[0115] As described so far, in the present invention, the virtual object total inertia M and the virtual object total viscous friction D are distributed to the first virtual object and the second virtual object according to the distribution ratios κ and γ. The distribution ratios κ and γ affect the behavior during the virtual torque limit operation. The smaller the distribution ratios κ and γ, the better the protection performance against overload. However, if the distribution ratios κ and γ are too small, the position control of the position control drive device 33A may become unstable during the virtual torque limit operation. This point needs to be noted.

[0116] [Modifications]

[0117] As mentioned above, although the 1st - 3rd embodiment of the drive unit of this invention is described, the structure of this invention is not limited to these.

[0118] For example, a drive unit 10D according to a modified example of the present invention may include a control unit 20D that does not include an inverse model calculation unit and a drive unit 21D that does not include a transmission device (see Figure 8 as well as Fig. 9). This drive unit 10D can be said to be a drive unit in which the inverse model operation device 32A and the transmission device 34 are omitted from the drive unit 10C of the third embodiment. In the drive unit 10D, the displacement p1 of the first virtual object calculated by the operation of the admittance model operation device 31C becomes the target position instruction for the position control drive device 33A.

[0119] Of course, the inverse model calculation unit and the transmission device can be omitted from the drive unit 10A of the first embodiment or the drive unit 10B of the second embodiment.

[0120] Furthermore, a virtual torque limiting function and a slip recovery function may be added to the drive unit 10A of the first embodiment, the drive unit 10B of the second embodiment, or the drive unit 10D of the modified embodiment.

[0121] When the drive device 41 is of a type that does not require feedback of position measurement values ​​(eg, a stepping motor), the position measuring device 42 can be omitted from the position control drive device 33A. Similarly, the speed measuring device 44 of the speed control drive device 33B can also be omitted.

[0122] In addition, the dynamic characteristics of the first virtual object are not limited to the dynamic characteristics shown in mathematical formula (1), and may also include items related to Coulomb friction (static friction and dynamic friction), movable range limitation, etc. Similarly, the dynamic characteristics of the second virtual object are not limited to the dynamic characteristics shown in mathematical formula (2).

[0123] In addition, the hypothetical interaction force model is not limited to the hypothetical interaction force model represented by mathematical formulas (3) and (8).

[0124] Industrial Applicability

[0125] The present invention is particularly useful in the case of flexibly controlling the force of a drive unit having a large output and a high reduction ratio with high safety and adaptability.

[0126] Description of Reference Numerals

[0127] 10A, 10B, 10C, 10D drive units

[0128] 20A, 20B, 20C, 20D control unit

[0129] 21A, 21B, 21D drive unit

[0130] 30A, 30C parameter storage device

[0131] 31A, 31C Admittance Model Operation Device

[0132] 32A, 32B Inverse model computing device

[0133] 33A Position Control Drive

[0134] 33B speed control drive

[0135] 34Transmission device

[0136] 35 force gauge

[0137] 40 position controller

[0138] 41 Drive device

[0139] 42 Position measuring device

[0140] 43 speed controller

[0141] 44 Speed ​​Meter

[0142] 50 environments.

Claims

1. A driving unit that causes a driving force corresponding to a target driving force command given from the outside to act on an environment, The driving unit is characterized in that The drive unit comprises: A parameter storage device storing dynamic characteristic parameters of a first imaginary object and a second imaginary object affected by an imaginary interaction force; a force measuring device that outputs a measurement result of the driving force as a driving force measurement value; an admittance model calculation device for outputting a displacement of the first virtual object obtained by calculation based on the dynamic characteristic parameters of the first virtual object and the second virtual object stored in the parameter storage device, the target driving force command, and the driving force measurement value; as well as A position control drive device that acts according to a target position instruction to exert the driving force on the environment; The force measuring device is arranged between the position control driving device and the environment. The target position instruction corresponds to the displacement of the first virtual object output from the admittance model calculation device.

2. The drive unit according to claim 1, characterized in that: The position control drive device is a single-axis device that operates in accordance with the target position command.

3. The drive unit according to claim 1, characterized in that: The dynamic characteristic parameters of the first virtual object and the second virtual object stored in the parameter storage device can be changed from the outside.

4. The drive unit according to claim 1, characterized in that: The driving force measurement value directly acts only on the dynamic characteristics of the first virtual object in the calculation of the admittance model calculation device. The target driving force instruction directly acts only on the dynamic characteristics of the second virtual object in the calculation of the admittance model calculation device. The dynamic characteristics of the first virtual object and the second virtual object interact with each other only via the virtual interaction force output by the virtual interaction force model.

5. The drive unit according to claim 4, characterized in that: The parameter storage device also stores the interaction parameters of the hypothetical interaction force model. The interaction parameter includes an upper limit value and a lower limit value of the hypothetical interaction force.

6. The drive unit according to claim 4, characterized in that: The parameter storage device also stores the interaction parameters of the hypothetical interaction force model. The virtual interaction force model has a function of making the relative displacement or relative velocity generated between the first virtual object and the second virtual object converge to zero. The interaction parameters include parameters of the convergence.

7. The drive unit according to claim 5 or 6, characterized in that: The interaction parameters of the virtual interaction force model stored in the parameter storage device can be changed from the outside.

8. A driving unit that causes a driving force corresponding to a target driving force command given from the outside to act on an environment, The driving unit is characterized in that The drive unit comprises: A parameter storage device storing dynamic characteristic parameters of a first imaginary object and a second imaginary object affected by an imaginary interaction force; a force measuring device that outputs a measurement result of the driving force as a driving force measurement value; an admittance model calculation device for outputting a velocity of the first virtual object obtained by calculation based on the dynamic characteristic parameters of the first virtual object and the second virtual object stored in the parameter storage device, the target driving force command, and the driving force measurement value; as well as a speed control driving device that acts in accordance with a target speed command to exert the driving force on the environment; The force measuring device is arranged between the speed control driving device and the environment, The target speed command corresponds to the speed of the first virtual object output from the admittance model calculation device.

9. The drive unit according to claim 8, characterized in that: The speed control drive device is a single-axis device that operates in accordance with the target speed command.

10. The drive unit according to claim 8, characterized in that The dynamic characteristic parameters of the first virtual object and the second virtual object stored in the parameter storage device can be changed from the outside.

11. The drive unit according to claim 8, characterized in that: The driving force measurement value directly acts only on the dynamic characteristics of the first virtual object in the calculation of the admittance model calculation device. The target driving force instruction directly acts only on the dynamic characteristics of the second virtual object in the calculation of the admittance model calculation device. The dynamic characteristics of the first virtual object and the second virtual object interact with each other only via the virtual interaction force output by the virtual interaction force model.

12. The drive unit according to claim 11, characterized in that The parameter storage device also stores the interaction parameters of the hypothetical interaction force model. The interaction parameter includes an upper limit value and a lower limit value of the hypothetical interaction force.

13. The drive unit according to claim 11, characterized in that The parameter storage device also stores the interaction parameters of the hypothetical interaction force model. The virtual interaction force model has a function of making the relative displacement or relative velocity generated between the first virtual object and the second virtual object converge to zero. The interaction parameters include parameters of the convergence.

14. The drive unit according to claim 12 or 13, characterized in that: The interaction parameters of the virtual interaction force model stored in the parameter storage device can be changed from the outside.

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