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Control device, control method, and master-slave system

A technology for controlling equipment and control systems, applied in general control systems, control/regulation systems, program control, etc., can solve the problem that position control and force control are not performed simultaneously

Inactive Publication Date: 2021-11-05
SONY CORP
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, position control and force control are not simultaneous

Method used

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  • Control device, control method, and master-slave system
  • Control device, control method, and master-slave system
  • Control device, control method, and master-slave system

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0035] Now, embodiments of the technology disclosed herein will be described in detail with reference to the accompanying drawings. Note that this embodiment is described in the following order.

[0036] A. Master-slave system configuration

[0037] B. Configuration Example of Parallel Cable Mechanism

[0038] C. Configuration example of a master device applying a parallel cable mechanism

[0039] D. Technical Problems of Master-Slave Systems Including Parallel Cable Mechanisms

[0040] E. Modeling of Parallel Cable Mechanism

[0041] F. Configuration of Parallel Cable Control System

[0042] G. Motor acceleration control system

[0043] H. Center of gravity model acceleration control system

[0044] I. Relative Model Tension Control System

[0045] J. Operation of the entire parallel cable control system

[0046] K. Bidirectional Control of Master-Slave Systems Including Parallel Cable Mechanisms

[0047] L. Effect

[0048] A. Master-slave system configuration

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PUM

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Abstract

Provided is a control device for controlling a parallel wire mechanism. In a parallel wire device that pulls a movable part using a plurality of wires, a control device decomposes a control model, that wire-drives the movable part with a pair of opposing motors, into a center-of-gravity mode in which a motor C is controlled so that the movable part reaches a desired acceleration, and a relative mode in which a motor R is controlled so that an elastic force acting on the wires becomes constant. The control device coordinate-transforms an acceleration reference value of the motor C determined in the center-of-gravity mode and an acceleration reference value of the motor R determined in the relative mode to obtain acceleration reference values of the pair of motors.

Description

technical field [0001] The technology disclosed herein relates to a control device and a control method for controlling a parallel cable mechanism, and to a master-slave system including a master device and a slave device, at least one of which includes the parallel cable mechanism. Background technique [0002] As low inertia drive systems, parallel cable systems and parallel linkage systems are known. These parallel mechanisms can be used, for example, in a master-slave system to drive a controller operated by the operator on the master side and a device (end effector) on the output side on the slave side. The inertia of a parallel cable system is generally less than that of a parallel linkage system. [0003] Also, as a control system of a master-slave system, a bidirectional system in which a slave operates from a master and the state of the slave is fed back to the master is known (for example, see PTL 1). [0004] To realize a bidirectional control system, highly pre...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/10A61B34/37B25J3/00B25J17/00G05D3/12
CPCG05D3/12B25J3/02B25J13/02B25J9/0078B25J9/1689G05B2219/39322G05B2219/45118A61B34/30A61B34/71A61B2034/715A61B2034/742A61B34/74A61B2034/302A61B34/37B25J3/04B25J9/104B25J9/1605B25J9/1633B25J9/1653
Inventor 矢岛俊介
Owner SONY CORP