Title:
情報処理装置、工作機械、ロボット、情報処理装置の制御方法および情報処理装置の制御プログラム
Document Type and Number:
Japanese Patent JP7343308
Kind Code:
B2
Abstract:
To accurately estimate external force even if modeling error is large.SOLUTION: An information processing device comprises: a drive unit (motor); a first detection unit detecting a position θM of the driving unit; a load unit to which external force dL is applied; a second detection unit detecting a position XL of the load unit; a power transmission unit transmitting driving force of the drive unit to the load unit; and a first calculation unit calculating power transmission force Ts based on the position θM of the drive unit and the position XL of the load unit. Upon combining power transmission force TsM obtained from the position θM of the drive unit and power transmission force TsK obtained from difference between the position θM of the drive unit and the position XL of the load unit while changing weighting αM to calculate first estimated power transmission force Ts1=αMTsM+(1-αM)TsK, the first calculation unit determines the weighting αM so that the variance σ2Ts1 of the first estimated power transmission force Ts1 or the variance σ2dL of the external force dL is minimized.SELECTED DRAWING: Figure 1
Inventors:
Shota Yamada
Hiroshi Fujimoto
Yuki Terada
Yoshihiro Isaoka
Hiroshi Fujimoto
Yuki Terada
Yoshihiro Isaoka
Application Number:
JP2019104005A
Publication Date:
September 12, 2023
Filing Date:
June 03, 2019
Export Citation:
Assignee:
dmg Mori Seiki Co., Ltd.
National University Corporation The University of Tokyo
National University Corporation The University of Tokyo
International Classes:
G05D3/12; B25J9/18; G05B19/19; H02P29/00
Domestic Patent References:
| JP2014023370A |
Attorney, Agent or Firm:
Takushi Kato
Takuya Yano
Shinobu Okuzumi
Takuya Yano
Shinobu Okuzumi
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