Title:
MANIPULATOR SYSTEM AND CONTROL METHOD THEREFOR
Document Type and Number:
WIPO Patent Application WO/2017/103986
Kind Code:
A1
Abstract:
In order to make more detailed compensation for parameter changes following temperature change and to precisely operate a manipulator, this manipulator system (1) comprises: a manipulator (2) driven by a motor (5); an operation unit (3) that operates the manipulator (2); and a control unit (4) that controls the motor (5) on the basis of operation inputs input to the operation unit (3). The manipulator (2) comprises a position detection unit (6) that detects the rotation angle position of the motor (5). The control unit (4) comprises: a current detection unit (10) that detects current supplied to the motor (5) in accordance with the operation inputs; a voltage detection unit (11) that detects voltage supplied to the motor (5) in accordance with the operation inputs; and a parameter calculation unit (12) that calculates a resistance value and a rotation speed constant for the motor (5) on the basis of the detected rotation angle position, current, and voltage. The control unit (4) uses the resistance value and the rotation speed constant calculated by the parameter calculation unit (12) and controls the motor (5).
Inventors:
KURIHARA KYOHEI (JP)
Application Number:
PCT/JP2015/085026
Publication Date:
June 22, 2017
Filing Date:
December 15, 2015
Export Citation:
Assignee:
OLYMPUS CORP (JP)
International Classes:
H02P29/00; B25J9/10; H02P6/16
Foreign References:
| JP2015163413A | 2015-09-10 | |||
| JP2011087402A | 2011-04-28 |
Attorney, Agent or Firm:
UEDA, Kunio et al. (JP)
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