Control system
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United States of America Patent
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-
Jul 4, 2017
Issued Date -
N/A
app pub date -
Mar 18, 2016
filing date -
Mar 31, 2015
priority date (Note) -
In Force
status (Latency Note)
Importance
Abstract
A control system for pressing an abutting object against an abutted object includes: a mechanical device including a motor and causing a force from the motor to act on the abutting object to displace the abutting object toward the abutted object, a driving device driving the motor according to an inputted operation amount, a measuring device measuring a physical amount related to displacement of the abutting object, and a controller. The controller executes: a position control process to calculate the operation amount to be inputted to the driving device, a reaction force estimation process to estimate a reaction force acting on the abutting object, and a compliance control process to correct the operation amount which is calculated in the position control process and to be inputted to the driving device by a compliance control based on an estimate value of the reaction force estimated in the reaction force estimation process.
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