Apparatus and method for controlling elastic actuator

A technology of a control device and a control method, which is applied to fluid pressure actuation devices, electric controllers, adaptive control, etc., can solve problems such as poor responsiveness, inability to perform real-time operations with robotic arms, and achieve stable performance. The effect of less state deviation and good responsiveness

Active Publication Date: 2006-10-25
PANASONIC CORP
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  • Summary
  • Abstract
  • Description
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  • Application Information

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Problems solved by technology

[0008] However, in the control device equipped with the delay circuit, since a delay with respect to the target operation often occurs, the responsiveness is poor, and it is impossible to perform tasks requiring real-time performance.
In addition, the effect is exerted only in the case of a combination of a servo motor and a fluid pressure driver, and cannot be achieved in a robot arm composed only of a fluid pressure driver

Method used

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  • Apparatus and method for controlling elastic actuator
  • Apparatus and method for controlling elastic actuator
  • Apparatus and method for controlling elastic actuator

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Experimental program
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Embodiment approach 1

[0236] FIG. 1 is a block diagram showing the concept of an elastic body actuator control device according to Embodiment 1 of the present invention. In FIG. 1, 101 is a target output generating device that generates a target value of the output of the elastomer actuator 102 as a fluid pressure actuator driven by fluid pressure. 104 is an output measurement device connected to the elastic body driver 102, measures the measured value of the output of the elastic body driver 102, and inputs the measured value into the target internal state determination device 105 and the output error compensation device 103. 103 is the input The output error compensation device of the target value from the target output generating device 101 is controlled so that the measured value of the output of the elastic body driver 102 measured by the output measuring device 104 follows the target value. 105 is a target internal state determination device inputted by the output information of the target output...

Embodiment approach 2

[0290] Picture 10 It is a figure which shows the structure of the control apparatus of the elastic body actuator of Embodiment 2 of this invention. Picture 10 Among them, 201 is a gravity compensation device. A control system is formed in which the target joint angle vector q of the robot arm 10 is output from the target trajectory generating device 11 d , The feedback control of the joint angle that compensates for the difference between the current joint angle vector q measured by the encoder 8 is performed. Other composition and Figure 6 The illustrated control device of the first embodiment is the same, and the description will be omitted.

[0291] The current joint angle vector q measured by the encoder 9 is input into the gravity compensation device 201, the posture of each link of the robot arm 10 is calculated by the gravity compensation device 201, and each link due to gravity is calculated by the gravity compensation device 201. The torque value generated in the join...

Embodiment approach 3

[0294] Picture 11 It is a figure which shows the structure of the control apparatus of the elastic body actuator concerning Embodiment 3 of this invention. Picture 11 Among them, 202 is a temperature compensation device. The robot arm 10 is provided with a temperature sensor (not shown) as an example of the internal state measuring device 107 to measure the temperature T of the elastic body of the elastic body actuator 102. Other composition and Picture 10 The illustrated control device of the second embodiment is the same, and the description will be omitted.

[0295] When the temperature of the elastomer of the elastomer actuator 102 changes, the elastic modulus of the elastomer changes, and the target pressure difference ΔP is calculated d The coefficients A and b of formula (1) change. In order to compensate for the influence caused by the temperature change of the elastic body, the temperature T is input into the temperature compensation device 202. The temperature compen...

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Abstract

An internal pressure of a fluid pressure drive actuator is measured by pressure measuring means (9), the amount of displacement of a movable mechanism is measured, a target value and a measurement value of displacement are inputted and a positional error is compensated by positional error compensating means (12), a target value of a pressure difference of the actuator antagonistically driven is calculated from the target value by target pressure difference calculating means (14), each output from the positional error compensating means, target pressure difference calculating means, and pressure measuring means is inputted and a pressure difference error is compensated by pressure difference compensating means (15).

Description

Technical field [0001] The present invention relates to a control device and a control method of an elastic body actuator that controls the action of an elastic body actuator driven by deformation of an elastic body, such as a fluid pressure actuator, and also relates to an elastic body actuator drive that controls a movable mechanism driven by the elastic body actuator Control device and control method of type movable mechanism. Background technique [0002] In recent years, the development of household robots such as pet robots is actively underway, and in the future, it is expected that more practical household robots, such as housework assistance robots, will be put into practical use. Since domestic robots need to enter the home and live with humans, they are different from conventional industrial robots in the necessary styles. [0003] In industrial robots, electric motors or reducers are used, and high-gain feedback control is used to achieve high fingertip position accur...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J13/00B25J19/00F15B11/06F15B15/10G05B11/32G05B13/02
Inventor 冈崎安直山本正树足达勇治浅井胜彦
Owner PANASONIC CORP
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