Drive unit adopting admittance control

Abstract

A drive unitA is configured to exert a driving force on an environmentin accordance with a target driving force command τ, and includes a parameter storage deviceA, a force measuring instrument, an admittance model calculation deviceA, and a position control and driving deviceA. The parameter storage deviceA has stored therein dynamics parameters of first and second virtual objects affected by a virtual interactive force λ. The force measuring instrumentis configured to output a measurement result for the driving force as a measured driving force value τ. The admittance model calculation deviceA is configured to calculate and output a displacement of the first virtual object. The displacement is obtained by calculations based on the stored dynamics parameters, the target driving force command τ, and the measured driving force value τ. The position control and driving deviceA is configured to operate in accordance with a target position command. The force measuring instrumentis disposed between the position control and driving deviceA and the environment. The target position command corresponds to the first virtual object's displacement outputted by the admittance model calculation deviceA. The drive unitA achieves advantages of both high and low backdrivability.