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US 10,354,683 B2Granted
Servo control method having first and second trajectory generation units
AssigneeOMRON Corporation
InventorsMasaki Namie, Yukio Iname, Mikiko Manabe
Life of this patent
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Abstract
A control device, a method of controlling the control device and recording medium are provided. Ranges of movement of a plurality of servo control systems are effectively used. A controller generates a corrected trajectory in which a high frequency component is removed from a first inverse kinematics trajectory so that no phase delay occurs as a command trajectory of a first servo control system.
Claims7
A control device comprising:
- a first trajectory generation unit configured to generate a first command trajectory in which a high frequency component is removed from a reference trajectory in a manner without occurring phase delay as a command trajectory of a first servo control system;
- a second trajectory generation unit configured to generate a second command trajectory including a trajectory corresponding to the high frequency component as a command trajectory of a second servo control system;
- and
- a prediction unit configured to predict a response of the first servo control system corresponding to the first command trajectory using a dynamic characteristics model of the first servo control system,
- wherein the prediction unit predicts a control amount which is an output of the first servo control system for a first command value generated from the first command trajectory using the dynamic characteristics model of the first servo control system, and
- the control device comprises
- an instruction unit configured to output the first command value corrected according to model predictive control using a control amount predicted by the prediction unit and a measured value of a control amount of the first servo control system acquired as feedback information from the first servo control system to the first servo control system.
4 more elements
A method of controlling a control device comprising:
- a first trajectory generation step of generating a first command trajectory in which a high frequency component is removed from a reference trajectory in a manner without occurring phase delay as a command trajectory of a first servo control system;
- a second trajectory generation step of generating a second command trajectory including a trajectory corresponding to the high frequency component as a command trajectory of a second servo control system;
- and
- a prediction step of predicting a response of the first servo control system corresponding to the first command trajectory using a dynamic characteristics model of the first servo control system, and a control amount which is an output of the first servo control system for a first command value generated from the first command trajectory using the dynamic characteristics model of the first servo control system, and
- outputting the first command value corrected according to model predictive control using a control amount predicted by the prediction step and a measured value of a control amount of the first servo control system acquired as feedback information from the first servo control system to the first servo control system.
2 more elements
Dependencies are inferred from the claim text.