Sony Group Corporation
CONTROL APPARATUS, CONTROL METHOD, AND MASTER-SLAVE SYSTEM

Abstract:

Provided is a control apparatus configured to control a parallel wire mechanism. The control apparatus for a parallel wire apparatus configured to pull a movable portion with a plurality of wires decomposes a control model in which the movable portion is driven by a pair of opposed motors with use of the wires to a center of gravity mode in which a motor C is controlled to make the movable portion achieve desired acceleration and a relative mode in which a motor R is controlled to make an elastic force that acts on the wires constant, by mode decomposition, and performs coordinate transformation on an acceleration reference value for the motor C determined in the center of gravity mode and an acceleration reference value for the motor R determined in the relative mode, to thereby obtain an acceleration reference value for the pair of motors.