Title:
CONTROL DEVICE, CONTROL METHOD, AND CONTROL PROGRAM
Document Type and Number:
WIPO Patent Application WO/2024/085072
Kind Code:
A1
Abstract:
This control device acquires a state of a control object at a time point t, and calculates, on the basis of the state at the time point t, a state at a time point t+1 at which: a complementarity condition relating to contact force generated at a contact point with the control object and to the distance between the control object and the contact point is satisfied; and an objective function representing the difference between the state of the control object at the time point t+1 and a target value is minimized.
The control device controls the control object so as to achieve the calculated state at the time point t+1.
Inventors:
TANAKA KAZUTOSHI (JP)
TANIAI TATSUNORI (JP)
KATAYAMA SOTARO (JP)
TANIAI TATSUNORI (JP)
KATAYAMA SOTARO (JP)
Application Number:
PCT/JP2023/037119
Publication Date:
April 25, 2024
Filing Date:
October 12, 2023
Export Citation:
Assignee:
OMRON CORP (JP)
International Classes:
B25J13/08
Attorney, Agent or Firm:
TAIYO, NAKAJIMA & KATO (JP)
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