Keio University

Motion Lib, Inc.

Yokogawa Electric Corporation

Shibuya Corporation

Takahiro Nozaki

Kouhei Ohnishi

Sho Sakaino

Toshiaki Naka

Masato Ohta

Takahiro Mizoguchi

Takaharu Kikura

Yuki Saito

A control system includes a master device, a slave device, and a control device that controls the master device and the slave device. In the control device, a response value acquisition unit acquires data of physical quantities representing action of the movable portion of the master device, and data of physical quantities representing action of the movable portion of the slave device. A command value calculation unit hypothesizes a virtual object that includes the master device and the slave device, and calculates a command value for causing the master device and the slave device to follow behavior expressed in the virtual object by input to the master device and the slave device, on the basis of the data of physical quantities acquired by the response value acquisition unit.

Control system, 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.

Position/force controller, and position/force control method and storage medium

A data generation device includes: a parameter generator; and a reaction force data generator. The parameter generator generates value data based on a signal having a correlation with a driving force. The parameter generator generates velocity data based on a signal representing a response of a member driven by the driving force. The reaction force data generator generates data of a reaction force received by the member from a predetermined object based on the value data and the velocity data.

Data generation device and data generation system

Weighing and filling apparatus for controlling filling device based on a container weight. A linear actuator for driving a drive shaft coupled to container support unit is included, a weight measuring unit determines the container weight from a detected height of the drive shaft detected by a height detecting unit and a drive signal of the linear actuator at the detected height. A first acceleration signal is calculated from a specified height of the container support unit set in advance and the height detected by the height detecting unit, a second acceleration signal is calculated from the container weight and an expected weight expected to be applied to the container support unit. The container support unit is kept at the specified height by a drive signal calculated from the first and second acceleration signals.

Weighing and filling apparatus

A position/force controller includes a function-dependent force/speed distribution conversion unit that, on the basis of speed, position and force information relating to a position based on an action of an actuator and control reference information, performs a conversion to distribute control energy to at least one of speed or position energy and force energy according to a function that is being realized. A control amount calculation unit calculates at least one of a speed or position control amount and a force energy on the basis of at least one of the speed or position energy and the force energy distributed by the force/speed distribution conversion unit. An integration unit integrates speed or position control amount with force control amount and, to return an output to the actuator, performs a reverse conversion on the speed or position control amount and the force control amount and determines an input to the actuator.

A position/force controller performs: detecting information relating to a position based on the effect of an actuator; converting by distributing control energy to speed or positional energy and force energy in response to functions realized on the basis of speed (position) and force information corresponding to the information relating to the position and on the basis of information serving as a reference for control; calculating the control amount for speed or position on the basis of the speed or positional energy; calculating the force control amount on the basis of the force energy; and integrating the speed or position control amount and the force control amount and performing a reverse conversion on the speed or position control amount and the force control amount to return the output to the actuator, to determine the input to the actuator.

Growing community of inventors

Kanagawa, Japan

Takahiro Nozaki