Title:
作動機構の制御装置
Document Type and Number:
Japanese Patent JP6655410
Kind Code:
B2
Abstract:
PROBLEM TO BE SOLVED: To easily avoid an output abnormality at a specific point angle and also support free operations.SOLUTION: A control device 1 is a control device of an operation mechanism for driving a plurality of links connected via a joint by means of an actuator. The control device 1 comprises: a joint angle acquisition unit 102 for acquiring a present joint angle, which is a present angle between links adjacent via the joint; a virtual joint angle acquisition unit 106 for calculating a virtual joint angle, which is a virtual angle between the mutual links different by a predetermined displacement angle from the present joint angle when the present joint angle is a specific point angle; a target acceleration acquisition unit 108 for acquiring a target acceleration, which is a movement acceleration as a target for the link; a driving torque value calculation unit 110 for calculating a driving torque value for driving the actuator based on the target acceleration and the virtual joint angle; and an actuator control unit 1C for controlling the actuator by using the driving torque value as a torque value for driving the actuator.SELECTED DRAWING: Figure 4
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Inventors:
Naofumi Murata
Hirohisa Hirai
Hirohisa Hirai
Application Number:
JP2016018269A
Publication Date:
February 26, 2020
Filing Date:
February 02, 2016
Export Citation:
Assignee:
MITSUBISHI HEAVY INDUSTRIES,LTD.
International Classes:
B25J13/00; A61H3/00; B25J11/00
Domestic Patent References:
| JP2006227724A | ||||
| JP6312392A |
Attorney, Agent or Firm:
Sakai International Patent Office