COLLABORATIVE CONTROL DEVICE AND COLLABORATIVE CONTROL METHOD

Title:

COLLABORATIVE CONTROL DEVICE AND COLLABORATIVE CONTROL METHOD

Document Type and Number:

WIPO Patent Application WO/2016/111236

Kind Code:

A1

Abstract:

In order to correct poor tracking performance, to prevent a fine pointing mechanism from going out of a movable range, and to assuredly cancel a directional angle error of the fine pointing mechanism, this collaborative control device includes: a first directing means that is connected to a stationary unit in a freely rotatable manner; a first angular sensor that detects the angle of the first directing means; a second directing means that is connected to the first directing means in a freely rotatable manner and has an inertia moment smaller than that of the first directing means; a second angular sensor that detects the angle of the second directing means; a second control means for controlling the angle of the second directing means on the basis of the angle of the second directing means; a third directing means connected to the second directing means in a freely rotatable manner; a third angular sensor that detects a target angle error which corresponds to the angle of the third directing means; a conversion means for conversion to a target angle of the first directing means on the basis of the angle of the first directing means, the angle of the second directing means, and the target angle error; and a first control means for directing the first directing means on the basis of the converted target angle of the first directing means.

Inventors:

SHIMIZU MOTOAKI (JP)

Application Number:

PCT/JP2016/000001

Publication Date:

July 14, 2016

Filing Date:

January 04, 2016

Export Citation:

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Assignee:

NEC CORP (JP)

International Classes:

G05D3/00; G01S3/786; H04B10/112

Domestic Patent References:

WO2014016989A1

2014-01-30

Foreign References:

JP2009024938A	2009-02-05
JP2013019810A	2013-01-31
US6978965B1	2005-12-27

Other References: