公开(公告)号：EP3763488A1

公开(公告)日：2021-01-13

申请号：EP19774840.3

申请日：2019-03-04

申请人： Sony Corporation

发明人： ITOTANI, Yuki ,  MASUDA, Hiromasa ,  MIYAMOTO, Atsushi ,  WAKANA, Kazuhito

IPC分类号： B25J3/00 ,  A61B34/37

摘要： [Overview]
[Problem to be Solved] There are provided a control apparatus, a control method, and a master-slave system.
[Solution] A control apparatus includes: a detector that detects whether or not a master apparatus used for an operation of a slave apparatus is located at a movable range limit; and a controller that controls, on the basis of a detection result, a slave parameter related to control of the slave apparatus and an image parameter related to an image displayed on the basis of imaging.

公开(公告)号：EP3825077A1

公开(公告)日：2021-05-26

申请号：EP19838444.8

申请日：2019-07-08

申请人： Sony Corporation

发明人： MATSUDA, Yasuhiro ,  NAGASAKA, Kenichiro ,  MASUDA, Hiromasa ,  HONGO, Kazuo

IPC分类号： B25J13/08 ,  B25J19/06

摘要： Provided is a control device capable of controlling the operation of a control target according to a detected external force. A control device (200) includes a control unit (210-1) that compares a first external force detected by a force sensor provided in a control target and a second external force estimated on the basis of a torque detected by a torque sensor provided in an a movable portion of the control target, the movable portion enabling the force sensor to be movable, and controls the operation of the control target by correcting a torque command value on the basis of a result of the comparison.