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Patent Searching and Data


Title:
ACTUATOR OPERATION SWITCHING DEVICE
Document Type and Number:
WIPO Patent Application WO/2019/102745
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; a mode control unit (72) for controlling the actuator control unit (61) in an instructed operation mode; and a mode switching unit (71) for switching the operation mode of the mode control unit (72) on the basis of the detected external force F.

Inventors:
KURIHARA KENJI (JP)
Application Number:
PCT/JP2018/038331
Publication Date:
May 31, 2019
Filing Date:
October 15, 2018
Export Citation:
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Assignee:
AZBIL CORP (JP)
International Classes:
B25J13/08; G05B13/02
Foreign References:
JP2016083742A2016-05-19
JP2013240858A2013-12-05
JP2017164876A2017-09-21
JP2014176934A2014-09-25
Attorney, Agent or Firm:
TAZAWA, Hideaki et al. (JP)
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