Title:
MOTION CONTROL DEVICE, MOTION CONTROL METHOD, NON-TRANSITORY COMPUTER-READABLE MEDIUM, AND MOTION CONTROL SYSTEM
Document Type and Number:
WIPO Patent Application WO/2020/049809
Kind Code:
A1
Abstract:
Provided is a motion control device that can track movement of a control object on a target trajectory smoothly. This motion control device (100) that performs tracking control of the control object on the target trajectory comprises: a position acquisition unit (101) that acquires the current position of the control object; and a target-trajectory-generating unit (102) that generates the target trajectory from the current position to the final position reached by the control object. The device (100) comprises: a moving-speed-determining unit (103) that determines the moving speed at which the control object moves at each position on the target trajectory; and a control-target-position-calculating unit (104) that sets the control target position in a travel direction on a tangent vector of the target trajectory in the current position to perform feedback control to track the target trajectory of the control object by the moving speed. The control-input-calculating unit (105) calculates the control input to the control object by feedback control that uses the control target position as a target value.
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Inventors:
YOSHIMOTO TATSUYA (JP)
YOSHIDA HIROSHI (JP)
YOSHIDA HIROSHI (JP)
Application Number:
PCT/JP2019/021131
Publication Date:
March 12, 2020
Filing Date:
May 28, 2019
Export Citation:
Assignee:
NEC CORP (JP)
International Classes:
G05D3/12; B25J9/10; E02F3/43; E02F9/20; G05B11/36; G05B19/19; G05D1/00
Domestic Patent References:
WO1997036217A1 | 1997-10-02 | |||
WO2012049866A1 | 2012-04-19 |
Foreign References:
CN108107842A | 2018-06-01 | |||
JP2011014100A | 2011-01-20 | |||
JPS5932006A | 1984-02-21 |
Attorney, Agent or Firm:
IEIRI Takeshi (JP)
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