Driving device and method for controlling the same, and parallel link robot and method for controlling the same

A method for controlling a parallel link robot comprising a plurality of driving devices each comprising a corrector configured to correct a command signal that is input and generate a correction signal, an actuator configured to move a movable part forward and backward based on the correction signal, and a position sensor configured to detect a present position of the movable part, the parallel link robot being configured to change a position and a posture of a robot distal end shaft, wherein

• the actuator comprises a nut connected to the movable part, a ball screw shaft onto which the nut is screwed, and a pulse motor configured to drive to rotate the ball screw shaft,
• the corrector includes a correction amount map in which a position correction amount for calibrating a predictable error due to a structure of the actuator is mapped for each position of the movable part,
• the driving devices comprises:
• a first driving device and a second driving device disposed with directions of movement of the movable parts parallel to each other;
• a first connection member to which the movable part of the first driving device and the movable part of the second driving device are connected in a manner separated from each other, the first connection member being capable of tilting by movement of the movable parts;
• a third driving device and a fourth driving device provided to the first connection member and disposed with directions of movement of the movable parts parallel to each other;
• a second connection member to which the movable part of the third driving device and the movable part of the fourth driving device are connected in a manner separated from each other, the second connection member being capable of tilting by movement of the movable parts;
• and
• a fifth driving device provided to the second connection member, and
• a tilt axis of the first connection member, a tilt axis of the second connection member, and a movement axis of the movable part of the fifth driving device are orthogonal to one another, and
• the method comprises:
• estimating an ideal movement position to which the movable part moves based on the command signal;
• referring to the correction amount map and calculating the position correction amount corresponding to the present position detected by the position sensor;
• and
• generating the correction signal by correcting the command signal so as to reduce a difference between a corrected present position obtained by correcting the present position by the position correction amount and the ideal movement position.