Robot, servo circuit, actuator, robot control method, and actuator driving method
First Claim
1. A robot comprising:
- control means for sequentially outputting control objects for actuators;
control-value correcting means for outputting, based on a result of driving each actuator, a correction value for each control object; and
driving means for generating a control value by correcting each control object based on the correction value and for driving each actuator based on the control value;
wherein said driving means includes;
an actuator-driving system for driving each actuator in accordance with the control value; and
a model-driving system for driving a model of each actuator in accordance with the control value; and
wherein said driving means corrects the control value, which is to be input to said actuator-driving system and/or said model-driving system so that a response from each actuator and a response from the model coincide with each other, detects at least the moment of inertia of each actuator from a result of the correction, and outputs the value as a result of the driving.
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Abstract
Based on a control object, a result of the detection of driving of an actuator and a response from a standard mathematical model of the actuator, the actuator is controlled, or in a servo system that controls the angle of a joint, etc., the control value is corrected so that the response from the thing to be driven and the response from the model of the thing to be driven are set to coincide with each other, and also based on a result of the correction of the control value, at least the moment of inertia of the thing to be driven is detected. Thereby, the moment of inertia of the driver and the like can be detected in real-time without providing a special sensor.
37 Citations
13 Claims
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1. A robot comprising:
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control means for sequentially outputting control objects for actuators;
control-value correcting means for outputting, based on a result of driving each actuator, a correction value for each control object; and
driving means for generating a control value by correcting each control object based on the correction value and for driving each actuator based on the control value;
whereinsaid driving means includes;
an actuator-driving system for driving each actuator in accordance with the control value; and
a model-driving system for driving a model of each actuator in accordance with the control value; and
whereinsaid driving means corrects the control value, which is to be input to said actuator-driving system and/or said model-driving system so that a response from each actuator and a response from the model coincide with each other, detects at least the moment of inertia of each actuator from a result of the correction, and outputs the value as a result of the driving. - View Dependent Claims (2, 3, 4)
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5. A robot having joints which uses actuators to drive said joints, said robot comprising:
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control-object output means for outputting control objects for the actuators;
actuator control means for controlling the actuators;
driving-result detecting means for detecting results of driving the actuators and for outputting results of the detection of the driving of the actuators; and
a standard mathematical model for outputting responses to the control objects;
whereinsaid actuator control means controls the actuators based on the control objects, the results of the detection and the responses.
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6. A servo circuit comprising:
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an actuator driving system for driving actuators in accordance with control values;
a model driving system for driving models of the actuators in accordance with the control values; and
control means which corrects each control value to be input to said actuator driving system and said model driving system so that a response from each actuator and a response from each model coincide with each other, detects at least the moment of inertia of each actuator from a result of the correction, and uses the result of the detection to correct each control value to be input to said actuator driving system and said model driving system. - View Dependent Claims (7, 8)
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9. An actuator including:
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a driver driving system for driving a driver in accordance with a control value;
a model driving system for driving a model of the driver in accordance with the control value; and
correcting means for correcting the control value, which is input to said driver driving system and said model driving system, so that a response from said driver driving system and a response from said model driving system coincide with each other;
whereinat least the moment of inertia of the driver is detected from a result of the correction by said correcting means and is output. - View Dependent Claims (10, 11)
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12. A method for controlling a robot which has joints and which uses actuators to drive the joints, wherein
each actuator is controlled based on a control object, a result of driving each actuator, and a response from a standard mathematical model for the control object.
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13. A method for driving an actuator which drives a driver in accordance with a control value, wherein
a model of the driver is driven in accordance with the control value, and based on a result of the driving of said model and a result of the driving of said actuator, at least the moment of inertia of said driver is detected and output.
Specification