Title:
POSITIONING CONTROL SYSTEM FOR ACTUATOR PROVIDED WITH STRAIN WAVE GEARING
Document Type and Number:
WIPO Patent Application WO/2013/061362
Kind Code:
A1
Abstract:
A positioning control system (10) for an actuator (1) provided with a strain wave gearing (5) is provided with: a semi-closed feedback controller FB(s) that controls a load shaft position θ1 on the basis of a feedback motor shaft position θm; and a feedforward linearization compensator (11) configured by incorporating a nonlinear plant model for an object to be controlled into a feedback linearization compensator using an exact linearization technique. The feedforward linearization compensator (11) uses a forward-calculated state quantity estimated value x* to calculate a feedforward current instruction i*
ref and a feedforward motor position instruction θ*
m to be input into the feedback controller FB(s). A positioning error caused by a non-linear element (non-linear spring property, relative rotational synchronization component, and non-linear friction) of the strain wave gearing (5) is compensated for by the feedforward linearization compensator (11).
Inventors:
YAMAMOTO MASAFUMI (JP)
OKITSU YOSHIFUMI (JP)
IWASAKI MAKOTO (JP)
OKITSU YOSHIFUMI (JP)
IWASAKI MAKOTO (JP)
Application Number:
PCT/JP2011/005951
Publication Date:
May 02, 2013
Filing Date:
October 24, 2011
Export Citation:
Assignee:
HARMONIC DRIVE SYSTEMS (JP)
NAT UNIV CORP NAGOYA INST TECH (JP)
YAMAMOTO MASAFUMI (JP)
OKITSU YOSHIFUMI (JP)
IWASAKI MAKOTO (JP)
NAT UNIV CORP NAGOYA INST TECH (JP)
YAMAMOTO MASAFUMI (JP)
OKITSU YOSHIFUMI (JP)
IWASAKI MAKOTO (JP)
International Classes:
F16H1/32; G05D3/00
Domestic Patent References:
| WO2010116607A1 | 2010-10-14 |
Foreign References:
| JP2009187404A | 2009-08-20 | |||
| JPS6366611A | 1988-03-25 |
Other References:
GODLER IVAN: "Haguruma Gensokuki no Kakudo Dentatsu Gosa ni Kiin suru Sokudo Hendo no Yokusei Seigyo", JOURNAL OF THE SOCIETY OF INSTRUMENT AND CONTROL ENGINEERS, vol. 39, no. 10, October 2000 (2000-10-01), pages 651 - 654
TOSHIAKI MIYAZAKI: "Robust Speed Control for Robot Arm with Angular Transmission Error of Gear", DAI 16 KAI ANNUAL CONFERENCE OF THE ROBOTICS SOCIETY OF JAPAN YOKOSHU, vol. 1L13, 18 September 1998 (1998-09-18), pages 443 - 444
TOSHIAKI MIYAZAKI: "Robust Speed Control for Robot Arm with Angular Transmission Error of Gear", DAI 16 KAI ANNUAL CONFERENCE OF THE ROBOTICS SOCIETY OF JAPAN YOKOSHU, vol. 1L13, 18 September 1998 (1998-09-18), pages 443 - 444
Attorney, Agent or Firm:
YOKOZAWA, Shiro (JP)
Shiro Yokozawa (JP)
Shiro Yokozawa (JP)
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Claims: