Device for controlling parallel link mechanism

A technology of linkage mechanism and control device, which is applied in the direction of controller, program control, electric controller, etc. with specific characteristics, can solve the problems of low responsiveness and low mechanical rigidity of the actuator, reduce adjustment man-hours, restrain The effect of vibration
CN109562518AActive Publication Date: 2019-04-02MITSUBISHI ELECTRIC CORP
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
MITSUBISHI ELECTRIC CORP
Publication Date
2019-04-02

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Abstract

A device for controlling a parallel link mechanism comprises an instruction unit (1) in which instructions for controlling an actuator (6a) and a drive control unit (5) that control driving of the parallel link mechanism are issued to the drive control unit (5). The instruction unit (1) is provided with a natural frequency estimation unit (4) that calculates, for each interpolation position of anend effector, an estimated value of the natural frequency, which changes in response to the position of the end effector. The calculations are made according to a dynamic model obtained by simulatinga mechanical system from the base of the parallel link mechanism to a link joining part using a translation spring and simulating a mechanical system from the link joining part to the end effector using a single rigid body. The drive control unit (5) is provided with a filter that, for each interpolation position, changes a frequency component that is suppressed in accordance with an estimated value sequence for each interpolation position of the end effector calculated by the natural frequency estimation unit (4).
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Description

technical field

[0001] The present invention relates to a control device for a parallel link mechanism in which a plurality of links are connected in parallel through joints. Background technique

[0002] In the parallel link mechanism, a plurality of links are connected in parallel by joints between the base and the end effector. A part or all of the connecting rods are driven by the actuator to drive and control the end effector to a free position or to a free attitude.

[0003] In Patent Document 1 below, there is a finding that when the end effector is in a state away from the origin position, vibration occurs during driving due to a reduction in the rigidity of the parallel link mechanism.

[0004] In response to the above knowledge, in the control device described in Patent Document 1, vibration is suppressed by changing the value of a parameter of the control system (hereinafter referred to as "control parameter") so that the mechanical rigidity becomes lower and the...

Claims

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