Control device, control system, control method, and program

Abstract

The objective is to provide a control device, control system, control method, and program that allows the designer of the main body to which the sensor is attached to control the sensor without modifying the control parameters when the sensor is installed. [Solution] The control device comprises: an attachment part to which a sensor is attached to the main body controlled by the control device; an acquisition unit that acquires location information of the attachment part and sensor identification information of the sensor attached to the attachment part; an extraction unit that extracts sensor specification information from a sensor specification database that stores sensor specification information based on the sensor identification information; and a reflection unit that reflects the sensor specification information and the location information of the attachment of the sensor in the control parameters.

Description

Technical Field

[0001] The present invention relates to a control device, a control system, a control method, and a program.

Background Art

[0002] For example, a large number of sensors are mounted on a robot. The control device of the robot acquires data from such a large number of sensors and controls the operation of the robot. For example, a device that acquires information from a large number of sensors and provides a service has been proposed (see Patent Document 1).

[0003] These multiple sensors may be replaced, for example, during repair. When replacing with a sensor from a different manufacturer or the like than the originally attached sensor, the characteristics of the sensor may be different from those of the originally attached sensor. Note that when the sensors are different, the physical information of the sensors is also different. The physical information of the sensor is, for example, the shape of the sensor, the weight of the sensor, the detection coordinates of the sensor, and the like.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] However, in the prior art, when replacing a sensor with a sensor from a different manufacturer or the like than the originally attached sensor, it was necessary for the robot designer or the like to modify the robot parameters according to the physical information in accordance with the specifications of the replaced sensor.

[0006] The present invention has been made in view of the above-mentioned problems, and aims to provide a control device, control system, control method, and program that can be controlled without the designer of the main body of the controlled object to which the sensor is attached having to modify the control parameters when the sensor is attached. [Means for solving the problem]

[0007] (1) To achieve the above objective, a control device according to one aspect of the present invention is a control device comprising: an attachment part to which a sensor is attached to a main body controlled by the control device; an acquisition unit that acquires position information to which the attachment part is attached and sensor identification information of the sensor attached to the attachment part; an extraction unit that extracts sensor specification information from a sensor specification database that stores specification information of the sensor based on the sensor identification information; and a reflection unit that reflects the sensor specification information and the position information to which the sensor is attached in the control parameters.

[0008] (2) In a control device according to one embodiment described in (1) above, the sensor mounting connector is installed on the main body, the sensor mounting connector is assigned unique communication identification information, and the acquisition unit acquires position information from the position of the sensor mounting connector associated with the unique communication identification information.

[0009] (3) In a control device according to one embodiment of the above (1) or (2), the specification information of the sensor may include the geometric information of the sensor.

[0010] (4) In a control device according to one embodiment of any one of (1) to (3) above, the reflection unit may reflect the geometric information after the sensor has been attached to the main body in accordance with the position in which the sensor has been attached, to the geometric information before the sensor has been attached to the main body.

[0011] (5) In a control device according to one embodiment of any one of (1) to (4) above, the mounting portion may have a defined reference position on the main body, the sensor may have a defined reference position on the sensor, and the detection position of the sensor may be defined as a relative coordinate from the reference position of the sensor.

[0012] (6) To achieve the above objective, a control system according to one aspect of the present invention comprises a control device, a sensor attached to a main body controlled by the control device, and a database storing specification information including geometric information of the sensor, wherein the control device comprises an attachment part to which the sensor is attached to the main body, an acquisition unit that acquires position information to which the attachment part is attached, and sensor identification information of the sensor attached to the attachment part, an extraction unit that extracts sensor specification information from a sensor specification database storing the specification information of the sensor based on the sensor identification information, and a reflection unit that reflects the sensor specification information and the position information to which the sensor is attached in the control parameters.

[0013] (7) In a control system according to one embodiment of the above (6), the main body is a robot including fingers, and the control device may include a control unit that controls the operation of the part of the main body to which the sensor is attached using the reflected control parameters and the detected values ​​obtained from the sensor.

[0014] (8) To achieve the above objective, a control method according to one aspect of the present invention is a control method for controlling a control device which has a mounting portion on a main body controlled by the control device to which a sensor is attached, wherein an acquisition unit acquires location information on which the mounting portion is attached and sensor identification information of the sensor attached to the mounting portion, an extraction unit extracts sensor specification information from a sensor specification database which stores specification information of the sensor based on the sensor identification information, and a reflection unit reflects the sensor specification information and the location information on which the sensor is attached into the control parameters.

[0015] (9) To achieve the above object, a program according to an aspect of the present invention causes a computer of a control device including an attachment portion to which a sensor is attached to a main body controlled by the control device, to acquire position information where the attachment portion is attached and sensor identification information of the sensor attached to the attachment portion, extract sensor specification information based on the sensor identification information from a sensor specification database that stores the sensor specification information, and reflect the sensor specification information and the position information where the sensor is attached in control parameters. <I

Advantages of the Invention

[0016] According to the aspects (1) to (9) above, when attaching a sensor, the designer of the main body of the control target to which the sensor is attached can be controlled without modifying the control parameters.

Brief Description of the Drawings

[0017] [Figure 1] It is a diagram showing a schematic configuration example of a control system according to an embodiment. [Figure 2] It is a diagram showing a configuration example of a control system according to an embodiment. [Figure 3] It is a diagram showing an example of information stored in a database according to an embodiment. [Figure 4] It is a diagram showing a connection example of a robot and a sensor unit according to an embodiment. [Figure 5] It is a diagram showing an example of a memory area of specification information regarding a sensor unit stored in a storage unit. [Figure 6] It is a flowchart of processing performed by a control device according to an embodiment. [Figure 7] It is a flowchart of processing for operation control according to an embodiment. [Figure 8] It is a diagram showing a configuration example of a control system when a communication bus is CAN.

Modes for Carrying Out the Invention

[0018] Hereinafter, embodiments of the present invention will be described with reference to the drawings. In the drawings used in the following description, the scale of each member is appropriately changed to make each member recognizable. In all the drawings for explaining the embodiments, those having the same function are denoted by the same reference numerals, and repeated explanations are omitted. In addition, "based on XX" as used in the present application means "at least based on XX", and includes cases where it is based on another element in addition to XX. Also, "based on XX" is not limited to the case where XX is directly used, and includes cases where it is based on something obtained by performing calculations or processing on XX. "XX" is an arbitrary element (for example, arbitrary information).

[0019] <Overview of the System> FIG. 1 is a diagram showing a schematic configuration example of the control system of the present embodiment. As shown in FIG. 1, the control system 1 includes, for example, a sensor unit 2 (sensor), a robot 3, a control device 4, and a database 5. Note that the control device 4 may be provided in the robot 3.

[0020] The robot 3 is, for example, a bipedal walking robot and includes a multi-fingered hand.

[0021] The sensor unit 2 is attached to, for example, the shoulders, elbows, wrists, fingers, etc. of the robot 3.

[0022] The control device 4 acquires the sensor identification information (sensor ID) of the attached sensor unit 2. In addition, the control device 4 acquires the communication identification information (communication ID) on the bus to which the sensor unit 2 with the acquired identification information is attached. The control device 4 uses the acquired sensor identification information to inquire of the database 5 and acquire the specification information of the attached sensor unit 2. The control device 4 reflects the acquired specification information of the sensor unit 2 in the parameters for controlling the robot 3. The control device 4 acquires the detection information detected by the sensor from the sensor unit 2. The control device 4 generates an operation command for the robot 3 based on the reflected parameters and the acquired detection information, and outputs the generated operation command to the robot 3.

[0023] Database 5 stores specification information for multiple sensor units 2. Database 5 stores the specification information linked to the identification information of each sensor unit 2.

[0024] <Example of system configuration> Figure 2 shows an example of the configuration of the control system according to this embodiment. Sensor unit 2 (2-1, 2-2, ...) comprises sensors 21 (21-1, 21-2, ...) and connection parts 22 (22-2, 22-3, ...). Robot 3 includes, for example, connection parts 31 (31-1, 31-2, ...) (mounting parts), a communication bus 32, a drive unit 33, and a control device 4. The control device 4 includes, for example, an acquisition unit 41, an extraction unit 42, a reflection unit 43, a control unit 44, and a storage unit 45.

[0025] Robot 3 and database 5 are connected via a wired or wireless network.

[0026] The connection part 22 of the sensor unit 2 is connected to the connection part 31 of the robot 3. The connection unit 31 is connected to the control device 4 via the communication bus 32.

[0027] Sensor 21 is, for example, a force sensor, pressure sensor, acceleration sensor, 6-axis sensor, etc. The connection part 22 is, for example, a connector, a connection terminal, etc.

[0028] (robot) The connection portion 31 is a connector or the like. The connection portion 31 also includes, for example, screw holes used to fix the sensor unit 2 to the robot 3. The communication bus 32 is, for example, a communication line that is laid out in various parts of the robot 3 to which the sensor unit 2 is attached. The drive unit 33 drives each drive unit of the robot 3 in accordance with the control of the control device 4.

[0029] When the sensor unit 2 is attached to the connection unit 31, the acquisition unit 41 acquires the sensor ID, which is the identification information of the sensor unit 2, and the communication ID, which is the identification information of the connection unit 31 to which the sensor unit 2 is attached. After the sensor unit 2 is attached, the acquisition unit 41 detects which reference position on the robot 3 the sensor unit 2 is attached to, based on the communication ID.

[0030] The extraction unit 42 extracts specification information associated with the acquired sensor ID by querying the database 5 via the network NW. While the file format retrieved from database 5 is, for example, YAML (Yet Another Markup Language), the file format is not limited to this.

[0031] The reflection unit 43 reflects the extracted specification information of the sensor unit 2 into the robot parameters (control parameters) used to control the robot 3. For example, the reflection unit 43 reflects the mechanism information (shape, weight, etc.) included in the specification information of the sensor unit 2 into the mechanism information of the robot 3 before the sensor unit 2 is attached.

[0032] The control unit 44 controls the operation of the robot 3 based on the robot parameters reflected by the reflection unit 43. The control unit 44 uses the communication ID and acquired specification information to associate the sensor mounting position information with the sensor information and stores it in the storage unit 45. The control unit 44 treats the sensor data acquired from each sensor unit 2 as robot sensor data, for example, based on the reference position of the robot 3 to which the sensor unit 2 is attached, the shape and weight of the sensor unit 2, the detection position of the sensor 21 in the robot coordinate system, the type of sensor, the number of channels and data format, the data size, the detection sensitivity per element, etc.

[0033] The memory unit 45 stores programs, thresholds, formulas, algorithms, etc., used by the control unit 44 for control. It also stores the reference position to which the sensor unit 2, described later, will be attached. The memory unit 45 stores the mechanism information (shape, weight, etc.) of the robot 3 before the sensor unit 2 is attached.

[0034] <Information stored in the database> Figure 3 shows an example of the information stored in the database of this embodiment. Database 5 stores physical information and other information associated with each sensor unit 2, along with its sensor ID. Physical information includes, for example, the shape of the sensor, the weight of the sensor, and the coordinates of the detection points detected by the sensor (for example, the positions of a, b, c, and d in Figure 4). Other information includes, for example, the type of sensor, the number of channels in the sensor, the data format of the sensor's detection information (for example, the order of the data), the data size of the sensor's detection information, and the detected value per element. The detected value per element is, for example, if sensor unit 2 is a pressure sensor, how many Nm 1 LSB is. It is also stored in database 5 as the relative coordinate from the reference position of sensor unit 2, which is the detection position of sensor 21 of sensor unit 2.

[0035] <Sensor Unit> Now, the sensor unit 2 of this embodiment will be described further. The sensor unit 2 is created by the designer of the robot 3, for example, by defining its physical mounting location. For example, if the goal is to detect touch in the finger, the designer would create a sensor unit 2 equipped with a touch sensor. The designer then assigns a sensor ID to this sensor unit 2 and registers the sensor ID, the sensor, and the specifications of the sensor unit 2 in the database. If a third party creates and sells the sensor unit 2 created in this way, for example, the sensor ID is assigned to this sensor unit 2 and the specifications of this sensor are registered in database 5. Note that the registration of the specifications of the third party's sensor unit 2 in database 5 may be done by the designer or by the third party.

[0036] <Example of sensor unit connection> Figure 4 shows an example of the connection between the robot and the sensor unit in this embodiment. Code g1 represents the installation range of sensor unit 2. Code g2 represents the installation range of sensor unit 2. The symbol g3 is the connection point 31 to the sensor unit 2. The code g4 represents the reference position on the robot 3 side for mounting the sensor unit 2. The reference position on the robot 3 side is, for example, one of several mounting screw positions. This reference position on the robot 3 side is a known position and is stored in the memory unit 45.

[0037] The symbol g11 is a reference position on the sensor unit 2 side, and is, for example, one of several mounting screw positions. The sensor unit 2 has, for example, four sensors 21 on its surface, as shown in Figure 4. The symbols a, b, c, and d for each sensor 21 indicate examples of detection points for the sensors. The sensor unit 2 also has a connection part 22 on its back surface. Symbol g20 is a diagram of the sensor unit 2 viewed from the side. Code g12 represents the detection position and is defined as a relative coordinate from the reference position on the sensor side. This detection position is stored in database 5 as one of the specification information items. Database 5 also stores information such as the order of codes a, b, c, d.

[0038] The sensor unit 2 is mounted so that the screw holes (mounting holes) on the sensor unit 2 that serve as the reference position coincide with the screw holes on the robot 3 that serve as the reference position. In this way, to ensure that mounting is unique, it is preferable that the screw holes on the sensor unit are not symmetrical, for example, left-right or up-down. Alternatively, a pin for directional adjustment may be provided on the sensor unit 2 side, and a hole for the pin may be provided on the robot 3 side.

[0039] In the example shown in Figure 4, connectors were described for connection parts 22 and 31, but the connection method is not limited to this. For example, connection part 31 on the robot 3 side may be a memory socket (memory connector) used in personal computers, etc. In this case, the terminals of connection part 22 on the sensor unit 2 side may be mounted directly on the circuit board.

[0040] <Coordinate system> The reference position of robot 3 is known, for example, in robot coordinates. As described above, the sensor unit 2 is mounted so that the screw hole (mounting hole) that serves as the reference position on the sensor unit 2 coincides with the screw hole that serves as the reference position on robot 3. Therefore, the reference position of the sensor unit 2 coincides with the reference position of robot 3. For this reason, the sensor detection value can be converted from the sensor coordinate system to the robot coordinate system. Also, as described above, the detection position is defined as a relative coordinate from the reference position, so the sensor detection value is expressed in the robot coordinate system.

[0041] <Examples of memory areas stored by the memory unit> Figure 5 shows an example of a memory area for specification information about a sensor unit stored in the memory unit. The memory unit 45 stores information about the sensor units 2, for example, 48 bytes per sensor unit 2. Note that 48 bytes is just an example and is not limited to this. For example, if the sensor unit 2 shown in Figure 4 is installed at a mounting location with communication ID 0, the storage unit 45 stores the data for detection point "point a" in byte 0, the data for detection point "point b" in byte 1, the data for detection point "point c" in byte 2, and the data for detection point "point d" in byte 3, with bytes 4 to 47 being invalid data. The number of bytes of such valid data is included in the data size of the specification information stored in the database 5. The data size of each sensor unit 2 is stored separately in a different area of ​​the storage unit 45 for each sensor unit 2 installed.

[0042] <Startup Procedure> Figure 6 is a flowchart of the processing performed by the control device of this embodiment. Note that the example processing procedure in Figure 6 is an example performed when robot 3 is started up.

[0043] (Step S1) The acquisition unit 41 determines whether or not the sensor unit 2 is connected to any of the connection parts 31. If the sensor unit 2 is connected to any of the connection parts 31 (Step S1; YES), the acquisition unit 41 proceeds to the process in Step S2. If the sensor unit 2 is not connected to any of the connection parts 31 (Step S1; NO), the acquisition unit 41 repeats the process in Step S1.

[0044] (Step S2) The acquisition unit 41 acquires the sensor ID, which is the identification information of the sensor unit 2, and the communication ID, which is the identification information of the connection unit 31 to which the sensor unit 2 is attached. Based on the communication ID, the acquisition unit 41 detects which reference position on the robot 3 the sensor unit 2 is attached to.

[0045] (Step S3) The extraction unit 42 queries the database 5 via the network NW for specification information associated with the acquired sensor ID.

[0046] (Step S4) The extraction unit 42 extracts and acquires specification information associated with the acquired sensor ID. The extraction unit 42 writes the acquired specification information to the storage area in the storage unit 45, for example, for each communication ID, and stores it.

[0047] (Step S5) The reflection unit 43 reflects the mechanism information (shape, weight, etc.) included in the specification information of the sensor unit 2 into the mechanism information of the robot 3 before the sensor unit 2 is attached.

[0048] (Step S6) The control unit 44 uses the communication ID and the acquired specification information to link the sensor mounting position information and sensor information and store them in the memory unit 45. Subsequently, the control unit 44 controls the operation of the robot 3 based on the robot parameters that reflect the specification information of the sensor unit 2. The control unit 44 knows which memory area contains which sensor information (detection position, data size, detection sensitivity, etc.) as shown in Figure 5, based on the startup process information, and handles the sensor data based on this linkage.

[0049] Note that the control method and procedure described using Figure 6 are examples only and are not limited to them. For example, steps S2 and S3 may be performed simultaneously. Also, if the answer to step S1 is NO, the robot 3's motion control may be performed without performing steps S2 to S5.

[0050] Furthermore, while the above example described a case where the connection of sensor unit 2 is checked at startup, if sensor unit 2 can be added or replaced while the power is on, the connection check may be performed during startup. Alternatively, the sensor ID, communication ID, and specification information of the sensor unit 2 confirmed at startup may be stored in the storage unit 45 and compared with the acquired information for verification. If the sensor ID and communication ID of the sensor unit 2 confirmed at startup have not changed since the previous startup, the specification information stored in the storage unit 45 may be used instead of retrieving it from the database 5.

[0051] <Example of motion control> Next, the process performed by the control unit 44 in step S6 of Figure 6 will be described. Figure 7 is a flowchart of the operation control process in this embodiment. The control unit 44 performs the following processes for each sensor ID.

[0052] (Step S11) The control unit 44 acquires sensor data from the sensor unit 2 at predetermined intervals, for example, according to information based on the sensor ID.

[0053] (Step S12) The control unit 44 writes the acquired sensor data to a memory area corresponding to the communication ID and stores it.

[0054] (Step S13) The control unit 44 acquires data from the memory area where the sensor data is stored.

[0055] (Step S14) The control unit 44 controls the mechanism, such as the finger, based on the sensor information (shape, weight, etc.) derived from the sensor ID. The control unit 44 then repeats the processing in steps S11 to S14.

[0056] <Example of a CAN communication bus> Figure 8 shows an example of a control system configuration when the communication bus is CAN. In this example, by defining a CAN (Controller Area Network) ID corresponding to the mounting position of each sensor unit 2 instead of a communication ID, it becomes possible to identify the sensor mounting position from the ID information included in the acquired data.

[0057] In Figure 8, CAN is shown as an example of the communication bus 32, but the communication bus 32 may be of a different standard.

[0058] As described above, in this embodiment, the sensor ID of the sensor unit 2 is associated with the specification information of the sensor unit 2 and stored in the database 5. Furthermore, in this embodiment, when the sensor unit 2 is installed, the sensor ID of the sensor unit 2 and the communication ID to which it was installed are obtained. Then, in this embodiment, the specification information of the obtained sensor ID is extracted from the database 5, and the extracted specification information is reflected in the robot parameters to control the operation of the robot 3.

[0059] As a result, according to this embodiment, when a third party develops the sensor unit 2, the external IF (interface) specifications (e.g., ID, data format, sensor unit size, reference position, etc.) can be defined. Therefore, even if a system user installs a third-party sensor, the designer does not need to adjust the robot parameters accordingly. In other words, for example, even if an external user of the robot 3 other than the designer installs a third-party sensor unit 2, the designer is saved the trouble of having to adjust the robot parameters for control each time. Furthermore, external users can benefit from being able to use a third-party sensor unit 2 when they want to change the sensor sensitivity according to their application or when replacing a faulty unit.

[0060] Furthermore, according to this embodiment, it is possible to determine where (position on the robot) the sensor unit 2 is attached to the robot 3. Also, according to this embodiment, in order to link the sensor attachment position information with the sensor information, the control unit 44 can recognize which sensor unit 2 the data was acquired from. In this embodiment, each sensor unit 2 is assigned a different sensor ID, and a different communication ID (CAN-ID in the case of CAN) is defined for each attachment part (connection part 31) on the robot 3 side, making it possible to identify the sensor attachment position. In addition, in this embodiment, each sensor data can reflect sensor detection coordinate information, which indicates which coordinates on the robot 3 the information is from, to the robot system. In this embodiment, since the detection point coordinates are defined as relative coordinates from a mechanical attachment origin (reference point), the control unit 44 can recognize the sensor detection coordinate information.

[0061] In the example described above, the sensor unit 2 is attached to the fingers of robot 3, but this is not the only example. For example, the location, movable part, or device may be affected by the difference in control before and after the attachment of the sensor unit 2, or the location to which the sensor unit 2 is attached may be a location, movable part, or device that is controlled and moves.

[0062] Furthermore, a program to implement all or part of the functions of the control device 4 in this invention may be recorded on a computer-readable recording medium, and all or part of the processing performed by the control device 4 may be performed by loading the program recorded on this recording medium into a computer system and executing it. Herein, "computer system" includes hardware such as an OS and peripheral devices. Furthermore, "computer system" also includes a WWW system equipped with a homepage provisioning environment (or display environment). Furthermore, "computer-readable recording medium" refers to portable media such as flexible disks, magneto-optical disks, ROMs, CD-ROMs, and storage devices such as hard disks built into a computer system. Moreover, "computer-readable recording medium" also includes volatile memory (RAM) inside a computer system that acts as a server or client when a program is transmitted via a network such as the Internet or a communication line such as a telephone line, which holds the program for a certain period of time. Alternatively, some or all of these components may be implemented by hardware (including circuitry) such as LSI (Large Scale Integration), ASIC (Application Specific Integrated Circuit), FPGA (Field-Programmable Gate Array), GPU (Graphics Processing Unit), or SOC (System On Chip), or by the collaboration of software and hardware.

[0063] Furthermore, the above program may be transmitted from a computer system that stores the program in a memory device or the like to another computer system via a transmission medium or by transmission waves within the transmission medium. Here, the "transmission medium" for transmitting the program refers to a medium that has the function of transmitting information, such as a network (communication network) such as the Internet or a communication line (communication line) such as a telephone line. In addition, the above program may be for the purpose of realizing a part of the functions described above. Furthermore, it may be a so-called differential file (differential program) that can realize the functions described above in combination with a program already recorded in the computer system.

[0064] Although embodiments for carrying out the present invention have been described above using examples, the present invention is not limited in any way to these embodiments, and various modifications and substitutions can be made without departing from the spirit of the present invention. [Explanation of symbols]

[0065] 1...Control system, 2, 2-1, 2-2, ......Sensor unit, 3...Robot, 4...Control device, 21, 21-1, 21-2, ......Sensor, 22, 22-2, 22-3, ......Connection unit, 31, 31-1, 31-2, ......Connection unit, 32...Communication bus, 33...Drive unit, 41...Acquisition unit, 42...Extraction unit, 43...Reflection unit, 44...Control unit, 45...Storage unit

Claims

1. A mounting section to which a sensor is attached to the main unit controlled by the control device, An acquisition unit that acquires position information of the mounting part to which the mounting part is attached, and sensor identification information of the sensor attached to the mounting part, An extraction unit that extracts sensor specification information from a sensor specification database that stores the specification information of the aforementioned sensor based on sensor identification information, A reflection unit that reflects the sensor specification information and the position information on which the sensor is attached into the control parameters, A control device equipped with the following features.

2. The sensor mounting connector is installed on the main body. The aforementioned sensor mounting connector is assigned unique communication identification information. The acquisition unit acquires location information from the position of the sensor mounting connector associated with the unique communication identification information. The control device according to claim 1.

3. The specification information of the sensor includes the geometric information of the sensor. The control device according to claim 1 or claim 2.

4. The reflection unit reflects the geometric information after the sensor is attached to the main body, according to the position where the sensor is attached, onto the geometric information before the sensor is attached to the main body. The control device according to claim 1 or claim 2.

5. The mounting portion has a defined reference position on the main body. The aforementioned sensor has a defined reference position. The detection position of the sensor is defined as a relative coordinate from the reference position of the sensor. The control device according to claim 1 or claim 2.

6. Control device and A sensor attached to the main unit controlled by the aforementioned control device, A database that stores specification information including geometric information of the aforementioned sensor, Equipped with, The control device is The main body includes a mounting portion to which the sensor is attached, An acquisition unit that acquires position information of the mounting part to which the mounting part is attached, and sensor identification information of the sensor attached to the mounting part, An extraction unit that extracts sensor specification information from a sensor specification database that stores the specification information of the aforementioned sensor based on sensor identification information, A reflection unit that reflects the sensor specification information and the position information on which the sensor is attached into the control parameters, A control system equipped with the following features.

7. The aforementioned body is a robot including finger parts, The control device is The system includes a control unit that controls the operation of the part of the main body to which the sensor is attached, using the reflected control parameters and the detected values ​​obtained from the sensor. The control system according to claim 6.

8. A control method for controlling a control device which has a mounting section on the main body controlled by the control device to which a sensor is attached, The acquisition unit acquires the position information of the mounting part and the sensor identification information of the sensor attached to the mounting part. The extraction unit extracts sensor specification information from the sensor specification database, which stores the specification information of the aforementioned sensor, based on the sensor identification information. The reflection unit reflects the sensor specification information and the position information on which the sensor is attached into the control parameters. Control method.

9. The computer of the control device, which has a mounting section on the main body controlled by the control device to which a sensor is attached, The position information of the mounting part and the sensor identification information of the sensor attached to the mounting part are obtained. Based on the sensor identification information, the sensor specification information is extracted from the sensor specification database which stores the specification information of the aforementioned sensor. The sensor specification information and the position information on which the sensor is attached are reflected in the control parameters. program.

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