Title:
制御装置および制御プログラム
Document Type and Number:
Japanese Patent JP7024751
Kind Code:
B2
Abstract:
A control device is provided with: a first generation unit for generating a first instruction position on a plane of a control subject in each control period on the basis of a target trajectory; a first control unit for generating a first operation amount by model prediction control using a first dynamic characteristic model and the first instruction position; a second generation unit for generating a second instruction position on an orthogonal axis of the control subject in each control period; and a second control unit for generating a second operation amount by model prediction control using a second dynamic characteristic model and the second instruction position. On the basis of shape data indicating a surface shape of an object and the first instruction position, the second generation unit generates the second instruction position in such a manner that a distance between the control subject and a surface of the object is constant. As a result, the control subject follows the shape of the surface of the object with high accuracy.
Inventors:
Masaki Namie
Application Number:
JP2019052750A
Publication Date:
February 24, 2022
Filing Date:
March 20, 2019
Export Citation:
Assignee:
OMRON Corporation
International Classes:
G05B13/04; G05D3/12
Domestic Patent References:
| JP2007152261A | ||||
| JP2018151889A |
Attorney, Agent or Firm:
Fukami patent office
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