TRAJECTORY CONTROL DEVICE

WIPO Patent Application WO/2015/104736

A1

In order to obtain a trajectory control device that controls the trajectory of a movable part of a processing machine so as to accurately follow a command path, this trajectory control device is provided with the following: a combined-length calculation unit (2) that calculates a command combined length summed along the aforementioned command path from a start position; a simulated servo-response filter unit (3) that calculates a response combined length by applying, to the command combined length, a first filter that simulates a multiple-axis servo response; a reference-response calculation unit (4) that calculates a reference-response position, said reference-response position being the position on the command path at which the length along the command path from the abovementioned start position is equal to the aforementioned response combined length; response compensation units (6 and 7) that calculate corrected command positions for the respective axes by applying a second filter, the characteristics of which are the inverse of those of the multiple-axis servo response, to a coordinate value for each axis for the reference response position; and a servo control unit (11) that controls each axis by outputting drive torque such that the position along that axis follows the corresponding corrected command position.

NAGAOKA KOTARO (JP)

PCT/JP2014/004772

July 16, 2015

September 17, 2014

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MITSUBISHI ELECTRIC CORP (JP)

G05B19/404; B23Q15/22; G05B13/04; G05B19/4155; G05D3/12

JPS63233402A	1988-09-29
JPS59194207A	1984-11-05

INABA, Tadahiko et al. (JP)
Tadahiko Inaba (JP)

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