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US 2014/0062377 A1Published application
Actuating apparatus
AssigneeHonda Motor Co., Ltd.
InventorAtsuo Orita
Life of this patent
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Abstract
An actuating apparatus has an actuator including a link having a plurality of joints and a plurality of motors for actuating the joints, and a controller for controlling the actuator. The controller controls the motors with a control torque m_τ_cntrl calculated according to the equation: m_τ—cntrl=M·(I−mEff)−1·(ddθ—cntrl−mEff·ddθ—cntrl—p)+C—cmpn from a target angular acceleration ddθ_cntrl, a preceding target angular acceleration ddθ_cntrl_p, a displaceable member torque response matrix Eff, an inertial matrix M, and a dynamic corrective force C_cmpn.
Claims6
An actuating apparatus comprising:
- an actuator including a link having a plurality of displaceable members and a plurality of rotary prime movers for actuating the displaceable members;
- and
- a controller for controlling the actuator;
- wherein the controller includes a control torque calculator for calculating a control torque for the displaceable members so that an actual angular acceleration of the displaceable members will reach a present target angular acceleration of the displaceable members after a sampling time, using a displaceable member torque response matrix representing a torque response of the displaceable members, an inertial matrix of the actuator determined by an angle of the displaceable members, the present target angular acceleration of the displaceable members, and a preceding target angular acceleration of the displaceable members.
1 more element
Dependencies are inferred from the claim text.