POSITION/FORCE CONTROL DEVICE, POSITION/FORCE CONTROL METHOD, AND PROGRAM

摘要

[Problem] To provide a technology for more appropriately realizing functions required of a robot. [Solution] This position/force control device: performs first conversion for allocating control energy to force energy and/or speed or potential energy in accordance with a function to be realized on the basis of information which becomes reference for control and information regarding force and speed (position) corresponding to information about a position based on an operation of an actuator; calculates a control amount of force and/or a control amount of speed or position on the basis of at least one of the allocated energies; performs second conversion by integrating the calculated control amounts; and determines an input to the actuator. The position/force control device performs a process which satisfies a condition set for the control energy, and which corresponds to increasing or reducing the force energy and/or the speed or potential energy.