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
CN1852790AActive Publication Date: 2006-10-25PANASONIC CORP
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
PANASONIC CORP
Publication Date
2006-10-25

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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).
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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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