Locus generation apparatus, control method for locus generation apparatus, control program, and storage medium
AssigneeOMRON Corporation
InventorTatsuya KOGA
Life of this patent
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Abstract
An apparatus includes an input reception unit for receiving a designated driving time, and a locus unit that generates a torque locus with a maximum value at its minimum by adjusting a switching timing and a maximum value under the conditions that the torque locus is a rectangular wave, the absolute values of the maximum value and the minimum value of torque are equal, and switching between the maximum value and the minimum value of the torque occurs once.
Claims16
A locus generation apparatus for generating an input locus to be used in control of an apparatus, comprising:
- an input reception unit configured to receive a designated driving time, which is an amount of time until a control target moves to a predetermined position from an initial position;
- a torque locus generation unit configured to generate a torque locus corresponding to the designated driving time, the torque locus having a maximum value that is at its minimum, by adjusting a switching timing and the maximum value, under the conditions that:
- the torque locus is a rectangular wave,
- absolute values of the maximum value and a minimum value of torque are equal, and
- switching between the maximum value and the minimum value of the torque occurs once;
- and
- an input locus unit configured to generate the input locus from the torque locus.
A control method for a locus generation apparatus for generating an input locus to be used in control of an apparatus, comprising:
- receiving a designated driving time, which is an amount of time until a control target moves from an initial position to a predetermined position;
- generating a torque locus corresponding to the designated driving time, the torque locus having a maximum value that is at its minimum, by adjusting a switching timing and the maximum value, under the conditions that:
- the torque locus is a rectangular wave,
- absolute values of the maximum value and a minimum value of torque are equal, and
- switching between the maximum value and the minimum value of the torque occurs once;
- and
- generating the input locus from the torque locus.
Dependencies are inferred from the claim text.