Title:
POSITIONING DEVICE
Document Type and Number:
WIPO Patent Application WO/2019/102820
Kind Code:
A1
Abstract:
The present invention is provided with: an actuator (1) provided with a fixed part (11) and a movable part (12); a position detection unit (4) for detecting the position of the movable part (12) relative to the fixed part (11); an acceleration detection unit (5) for detecting the acceleration of the fixed part (11); an actuator control unit (61) which adjusts the gain for the difference between the detected position and a reference position (Pr), and outputs a drive current (Ia) for the actuator (1) on the basis of a current command value (Irp), i.e. the adjustment result, and the detected acceleration; an external force detection unit (62) which detects an external force (F) exerted on the movable part (12) on the basis of the current command value (Irp), or the detected acceleration and the current value of the outputted drive current (Ia); and a work control unit (7) which controls the actuator control unit (61) on the basis of the detected external force (F).
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Inventors:
KURIHARA KENJI (JP)
Application Number:
PCT/JP2018/040811
Publication Date:
May 31, 2019
Filing Date:
November 02, 2018
Export Citation:
Assignee:
AZBIL CORP (JP)
International Classes:
B25J13/08
Foreign References:
| JPH04348894A | 1992-12-03 | |||
| JP2004082243A | 2004-03-18 | |||
| JP2010105138A | 2010-05-13 | |||
| JP2010221322A | 2010-10-07 | |||
| JP2012024886A | 2012-02-09 | |||
| JP2012061564A | 2012-03-29 | |||
| JP2013188859A | 2013-09-26 | |||
| JP2015083323A | 2015-04-30 | |||
| US20050178816A1 | 2005-08-18 |
Attorney, Agent or Firm:
TAZAWA, Hideaki et al. (JP)
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