CONTROL DEVICE, CONTROL SYSTEM AND CONTROL METHOD

Title:

CONTROL DEVICE, CONTROL SYSTEM AND CONTROL METHOD

Document Type and Number:

WIPO Patent Application WO/2012/049866

Kind Code:

A1

Abstract:

Provided is a control device for controlling a device having a moving portion which is movable by a plurality of drive shafts. The control device includes: target trajectory generation means for generating a target trajectory for a segment of movement defined by a starting point and an ending point; remaining distance estimation means for estimating the remaining distance from the current position to the ending point in the target trajectory; acceleration calculation means which, in the case that the current speed of movement of the moving portion is changed to reach a target speed which is the speed of movement to be satisfied by the moving portion at the ending point of the target trajectory, calculates the acceleration for the change so that the distance to be traveled by the moving unit substantially matches the remaining distance; and movement speed update means which, by correcting the current speed of movement with the calculated acceleration, calculates a new target value of the speed of movement.

Inventors:

EGI MAMORU

Application Number:

PCT/JP2011/056227

Publication Date:

April 19, 2012

Filing Date:

March 16, 2011

Export Citation:

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Assignee:

OMRON TATEISI ELECTRONICS CO (JP)
EGI MAMORU

International Classes:

G05B19/416

Foreign References:

JPH07210233A	1995-08-11
JP2003015714A	2003-01-17
JPH07104824A	1995-04-21
JPS61156309A	1986-07-16
JPH11179685A	1999-07-06
JP2006072598A	2006-03-16
JPH0764620A	1995-03-10
JP2000148223A	2000-05-26
JP2000163114A	2000-06-16
JPH0675621A	1994-03-18
JPH01147610A	1989-06-09

Other References: