Power control system, power control method, and power control program

Abstract

This power control system provides a high level of safety even when an external force exceeding a certain level is applied to the working part. [Solution] A power control system 1 that performs impedance control on at least the operating unit 11 of a work unit 12 and an operating unit 11, comprising: a work unit 12 configured to perform a predetermined task; an operating unit 11 configured to move the work unit 12; a detection unit 20 that detects the work unit position, which is the position of the work unit; a calculation unit 30 that calculates the driving force generated in the operating unit 11 based on the target position Xd, the work unit position X, and the impedance value; and a control unit 30 having a driving signal generation unit 40 that outputs a driving signal to the operating unit 11 based on the driving force F, wherein the control unit 30 has a driving force suppression unit 31 that suppresses the driving force F when the driving force F reaches a threshold F1.

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