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US 2019/0027170 A1Published application
Servo control method having first and second trajectory generation units
AssigneeOMRON Corporation
InventorsMasaki NAMIE, Yukio INAME, Mikiko MANABE
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Abstract
A control device, a method of controlling the control device and recording medium are provided. Ranges of movement of a plurality of servo control systems are effectively used. A controller generates a corrected trajectory in which a high frequency component is removed from a first inverse kinematics trajectory so that no phase delay occurs as a command trajectory of a first servo control system.
Claims12
A control device comprising:
- a first trajectory generation unit configured to generate a first command trajectory in which a high frequency component is removed from a reference trajectory in a manner without occurring phase delay as a command trajectory of a first servo control system;
- a second trajectory generation unit configured 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;
- and
- 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.
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A method of controlling a control device comprising:
- a first trajectory generation step of generating a first command trajectory in which a high frequency component is removed from a reference trajectory in a manner without occurring phase delay as a command trajectory of a first servo control system;
- a second trajectory generation step of generating a second command trajectory including a trajectory corresponding to the high frequency component as a command trajectory of a second servo control system;
- and
- 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.
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Dependencies are inferred from the claim text.