To provide an orientation system controlling method capable of automatically calibrating the system with high precision without human intervention and a self-calibrating orienting system.
The invention relates to control of an orientation/positioning system including a sensor means (1) and actuator means (41, 42 and 43) for controlling the action of orientation and/or positioning of an operation device. The controlling method includes the following six steps: that is, S1 of estimating a pre-action output of the sensor means; S2 of determining the position after the target action; S3 of mapping a deviation between the pre- and post-action positions to an actuator control coordinate to form a command for the actuator means; S4 of controlling the actuator means; S5 of detecting the actual post-action position; and S6 of executing incremental adaptation learning of a mapping function. The steps S1-S6 are cyclically repeated at least once by means of individually adapted maps.
RODEMANN TOBIAS
Takashi Watanabe
Yasuhiko Murayama
Shinya Mitsuhiro