Compressible fluid pressure actuator driving mechanism and control apparatus thereof
AssigneePanasonic Corporation
InventorYasunao Okazaki
Life of this patent
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Abstract
Fluid pressures of a plurality of compressible fluid pressure actuators that drive a joint through antagonistic driving are controlled by a main-fluid pressure control device, and at the time of applying quick brake upon collision, a proximate fluid pressure high-speed control device, disposed closely to the actuators, carries out pressure application or pressure reduction at a high speed on the actuators so as to be quickly accelerated or decelerated.
Claims15
A compressible fluid pressure actuator driving mechanism with which a joint motion is driven by antagonistic driving of a plurality of compressible fluid pressure actuators, comprising:
- a main-fluid pressure control means for controlling the joint motion by carrying out a pressure-applying or pressure-reducing control operation on the compressible fluid pressure actuators to control respective fluid pressures of the compressible fluid pressure actuators;
- and
- a proximate fluid pressure high-speed control means, disposed closely in a vicinity of the compressible fluid pressure actuators, for carrying out a pressure-applying or pressure-reducing control operation on the compressible fluid pressure actuators more quickly than fluid pressure control operation of the main-fluid pressure control means for controlling the joint motion such that the compressible fluid pressure actuators are quickly accelerated or quickly decelerated.
An apparatus for controlling a compressible fluid pressure actuator driving mechanism with which a joint motion is driven by antagonistic driving of a plurality of compressible fluid pressure actuators, the compressible fluid pressure actuator driving mechanism comprising:
- a main-fluid pressure control means for controlling the joint motion by carrying out a pressure-applying or pressure-reducing control operation on the compressible fluid pressure actuators to control respective fluid pressures of the compressible fluid pressure actuators;
- and a proximate fluid pressure high-speed control means, disposed closely in a vicinity of the compressible fluid pressure actuators, for carrying out a pressure-applying or pressure-reducing control operation on the compressible fluid pressure actuators more quickly than fluid pressure control operation of the main-fluid pressure control means for controlling the joint motion such that the compressible fluid pressure actuators are quickly accelerated or quickly decelerated, the apparatus comprising:
- a joint control means for controlling the joint motion by controlling operation of the main-fluid pressure control means based upon information of the joint motion;
- and
- a joint quick accelerating/decelerating control means for controlling operation of the proximate fluid pressure high-speed control means such that a quick accelerating or decelerating operation of the joint is controlled.
Dependencies are inferred from the claim text.