Title:
CONTROL DEVICE AND CONTROL PROGRAM
Document Type and Number:
WIPO Patent Application WO/2020/189344
Kind Code:
A1
Abstract:
A control device is provided with: a first generation unit for generating a first instruction position on a plane of a control subject in each control period on the basis of a target trajectory; a first control unit for generating a first operation amount by model prediction control using a first dynamic characteristic model and the first instruction position; a second generation unit for generating a second instruction position on an orthogonal axis of the control subject in each control period; and a second control unit for generating a second operation amount by model prediction control using a second dynamic characteristic model and the second instruction position. On the basis of shape data indicating a surface shape of an object and the first instruction position, the second generation unit generates the second instruction position in such a manner that a distance between the control subject and a surface of the object is constant. As a result, the control subject follows the shape of the surface of the object with high accuracy.
More Like This:
Inventors:
NAMIE MASAKI (JP)
Application Number:
PCT/JP2020/009713
Publication Date:
September 24, 2020
Filing Date:
March 06, 2020
Export Citation:
Assignee:
OMRON TATEISI ELECTRONICS CO (JP)
International Classes:
G05B13/04; B05D3/00; G05D3/12
Foreign References:
| JP2007152261A | 2007-06-21 | |||
| JP2018151889A | 2018-09-27 | |||
| JP2004298697A | 2004-10-28 |
Other References:
See also references of EP 3944033A4
Attorney, Agent or Firm:
FUKAMI PATENT OFFICE, P.C. (JP)
Download PDF:
Previous Patent: CONTROL SYSTEM AND CONTROL PROGRAM
Next Patent: GAS BARRIER LAMINATE AND METHOD FOR MANUFACTURING SAME
Next Patent: GAS BARRIER LAMINATE AND METHOD FOR MANUFACTURING SAME