专利名称：CONTROL DEVICE, CONTROL METHOD, AND
CONTROL SYSTEM
发明人：MATSUDA, Yasuhiro,NAGASAKA,
Kenichiro,MASUDA, Hiromasa,HONGO,Kazuo
申请号：EP19838444申请日：20190708公开号：EP3825077A4公开日：20210901
摘要：Provided is a control device capable of controlling the operation of a controltarget according to a detected external force. A control device (200) includes a controlunit (210-1) that compares a first external force detected by a force sensor provided in acontrol target and a second external force estimated on the basis of a torque detectedby a torque sensor provided in an a movable portion of the control target, the movableportion enabling the force sensor to be movable, and controls the operation of thecontrol target by correcting a torque command value on the basis of a result of thecomparison.
申请人：Sony Group Corporation
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