Control apparatus and method for controlling a control subject
AssigneeKabushiki Kaisha Toshiba
InventorJunichiro Ooga
Life of this patent
Estimating the term…
Abstract
A control apparatus includes: a memory storing data regarding an interference matrix; a position compensation calculator calculating position compensation by using the data based on a target position of an output shaft and a detected position of the output shaft; a torque compensation calculator calculating torque compensation by using the data based on the detected position of the output shaft and a detected position of a drive shaft; and a command value calculation unit calculating a command value for the drive source based on the position compensation and the torque compensation.
Claims19
A control apparatus for controlling a control subject comprising a drive shaft, an output shaft, a drive source for driving the drive shaft, and a drive force transmitting tool for transmitting a drive force from the drive shaft to the output shaft, comprising:
- a memory configured to store data regarding an interference matrix representing a relationship between a position of the output shaft and a position of the drive shaft;
- a position compensation calculator configured to calculate position compensation for the drive shaft by using the data based on a target position of the output shaft and a detected position of the output shaft;
- a torque compensation calculator configured to calculate torque compensation for the drive shaft by using the data based on the detected position of the output shaft and a detected position of the drive shaft;
- a command value calculation unit configured to calculate a command value based on the position compensation and the torque compensation;
- and
- an output unit configured to output a signal to the drive source based on the command value.
A method for controlling a control subject comprising a drive shaft, a output shaft, a drive source for driving the drive shaft, and a drive force transmitting tool for transmitting a drive force from the drive shaft to the output shaft, comprising:
- calculating position compensation for the drive shaft using data regarding an interference matrix representing a relationship between a position of the output shaft and a position of the drive shaft, based on a target position of the output shaft and a detected position of the output shaft;
- calculating a torque compensation for the drive shaft using the data based on the detected position of the output shaft and a detected position of the drive shaft;
- calculating a command value based on the position compensation and the torque compensation;
- and
- outputting a signal to the drive source based on the command value.
A robot comprising:
- a drive shaft;
- an output shaft;
- a drive source configured to drive the drive shaft;
- and
- a drive force transmitting tool configured to transmit a drive force from the drive shaft to the output shaft;
- a drive shaft position detector configured to detect a position of the drive shaft;
- an output shaft position detector configured to detect a position of the output shaft;
- a control apparatus comprising:
- a memory configured to store data regarding an interference matrix representing a relationship between a position of the output shaft and a position of the drive shaft;
- a position compensation calculator configured to calculate position compensation for the drive shaft by using the data based on a target position of the output shaft and a detected position of the output shaft;
- a torque compensation calculator configured to calculate torque compensation for the drive shaft by using the data based on the detected position of the output shaft and a detected position of the drive shaft;
- a command value calculation unit configured to calculate a command value based on the position compensation and the torque compensation;
- and
- an output unit configured to output a signal based on the command value;
- and,
- a drive source configured to drive the drive shaft based on the signal.
Dependencies are inferred from the claim text.