Control apparatus, control method for control apparatus, control program, and storage medium
AssigneeOMRON Corporation
InventorsTatsuya Koga, Masahiro Murai
Life of this patent
Estimating the term…
Abstract
A control apparatus and the like may include a time allocation setting unit that sets a time allocation for steps in the total driving time, and an operation value calculation unit that calculates minimum operation values for the times set by the time allocation setting unit, and the time allocation setting unit sets the time allocation of the steps in the total driving time such that the difference between the minimum operation values of the steps falls within a predetermined range.
Claims10
A control apparatus for controlling processing comprising a plurality of operation steps, the control apparatus comprising a processor configured with a program to perform operations comprising:
- operation as an input reception unit configured to receive a total driving time for executing the processing;
- operation as a time allocation setting unit configured to set a time allocation for each of the plurality of the operation steps comprising a portion of the total driving time during which the corresponding operation step is to be executed;
- operation as an operation value calculation unit configured to calculate torque values as minimum operation values needed to execute each of the plurality of the operation steps within the corresponding time allocation;
- and
- operation as an input locus generation unit configured to generate an input locus for moving a control target in the plurality of operation steps, the input locus being generated based on a torque waveform obtained by using the torque values, wherein
- the plurality of operation steps comprising moving the control target from an initial position to a predetermined position,
- the processor is configured to perform operations such that operation as the time allocation setting unit comprises operation as the time allocation setting unit configured to set the time allocation for each of the plurality of the operation steps such that a difference between the minimum operation values needed to execute each of the plurality of the operation steps within the corresponding time allocation falls within a predetermined range, and
- the processor is configured with the program to perform operations such that operation as the operation value calculation unit comprises operation as the operation value calculation unit that calculates torque values as the minimum operation values needed to execute each of the plurality of the operation steps within the corresponding time allocation.
A control method for controlling processing comprising a plurality of operation steps, the control method comprising:
- receiving a total driving time for executing the processing;
- setting a time allocation for each of the plurality of the operation steps comprising a portion of the total driving time during which the corresponding operation step is to be executed;
- calculating minimum operation values comprising torque values needed to execute each of the plurality of the operation steps within the corresponding time allocation;
- re-setting the time allocation of each of the plurality of operation steps such that a difference between the minimum operation values needed to execute each of the plurality of the operation steps within the corresponding time allocation falls within a predetermined range;
- and
- generating an input locus for moving a control target in the plurality of the operation steps based on a torque waveform obtained by using the torque values, wherein
- the plurality of operation steps comprises moving the control target from an initial position to a predetermined position.
Dependencies are inferred from the claim text.