Control device for industrial equipment

Abstract

A control device controls an attitude control actuator by means of which a distal end member located on a link actuation device can be moved. A parallel linkage mechanism includes a proximal end-side link hub, a distal end-side link hub, and three linkages via which the distal end-side link hub is coupled to the proximal end-side link hub in such a manner that allows the attitude of the distal end-side link hub to change relative to the proximal end-side link hub. The control device includes a parameter switcher which switches control parameters to adjust the jerk of the attitude control actuator or the distal end member based on a load applied to the distal end member. The parameter switcher can switch more than one control parameter including at least one of the filter time constant of a moving average filter or a model following control gain.

Dependencies are inferred from the claim text.