Controller for parallel link mechanism

Abstract

A controller for a parallel link mechanism includes a drive control unit that controls driving of a parallel link mechanism and a command section that gives a command for controlling an actuator to the drive control unit. The command section includes a natural frequency prediction unit that calculates a predicted value string of a natural frequency changing depending on the position of an end effector for each interpolation position of the end effector by using a dynamic model that simulates a mechanical system from a base to a link joint of the parallel link mechanism with a translational spring and simulates a mechanical system from the link joint to the end effector with one rigid body. The drive control unit includes a filter that changes a frequency component to be suppressed for each interpolation positions according to a predicted value string at each interpolation position of the end effector.

Dependencies are inferred from the claim text.