Control device, method of controlling control device, and recording medium
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. An adherence performance of all of a plurality of servo control systems is improved. A controller predicts a response of a first servo control system corresponding to a corrected trajectory and corrects a first command value or generates a second inverse kinematics trajectory using the predicted response.
Claims9
A control device configured to generate a first command trajectory in which a high frequency component is removed from a reference trajectory by low pass filter processing as a command trajectory of a first servo control system and 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, the control device comprising:
- 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;
- and
- a generation unit configured to perform
- (1) correcting a first command value generated from the first command trajectory or
- (2) generating the second command trajectory,
- by using the response of the first servo control system predicted by the prediction unit.
A control method of a control device configured to generate a first command trajectory in which a high frequency component is removed from a reference trajectory by low pass filter processing as a command trajectory of a first servo control system and 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, the method comprising:
- 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 generation step of
- (1) correcting a first command value generated from the first command trajectory or
- (2) generating the second command trajectory,
- by using the response of the first servo control system predicted in the prediction step.
Dependencies are inferred from the claim text.