Apparatus and method for controlling elastic actuator

• US 20070118252A1
• Filed: 01/18/2007
• Published: 05/24/2007
• Est. Priority Date: 09/22/2003
• Status: Active Grant

• Current Assignee: Katsuhiko Asai, Masaki Yamamoto, Yasunao Okazaki, Yuji Adachi
• Original Assignee: Katsuhiko Asai, Masaki Yamamoto, Yasunao Okazaki, Yuji Adachi
• Inventors: Okazaki, Yasunao, Asai, Katsuhiko, Yamamoto, Masaki, Adachi, Yuji
• Granted Patent: US 7,260,450 B2
• Time in Patent Office: Days
• US Class Current: 700/254
• CPC Class Codes: B25J 9/142 comprising inflatable bodies
• CPC Class Codes: F15B 11/20 controlling several interacting or sequentially-operating members
• CPC Class Codes: F15B 15/103 using inflatable bodies that contract when fluid pressure is applied, e.g. pneumatic artificial muscles or McKibben-type actuators
• CPC Class Codes: F15B 9/09 with electrical control means

Abstract

An internal pressure of a hydropneumatic drive actuator is measured by a pressure measurement device, a displacement amount of a movable mechanism is measured, a desired value and a measurement value of the displacement are inputted so that a position error is compensated by a position error compensation device, a desired value of a pressure difference of the actuator to which antagonistic driving is performed by the desired value is calculated by a desired pressure difference calculation device, outputs from the position error compensation device, the desired pressure difference calculation device, and the pressure measurement device are inputted, and a pressure difference error is compensated by pressure difference error compensation device.

Claims

1. An apparatus for controlling an elastic actuator drive-type movable mechanism of an elastic actuator, comprising:

an internal state measurement means for measuring an internal state of said elastic actuator to output a measurement value of said internal state, the internal state being changed by drive of said elastic actuator;

driving force measurement means for measuring driving force to output a measurement value of said driving force, the driving force being generated by said elastic actuator;

an output measurement means for measuring output of said movable mechanism to output a measurement value of the output, the movable mechanism being driven by said elastic actuator;

an output error compensation means to which a desired value of said output of said movable mechanism driven by said elastic actuator and the measurement value of said output measured by said output measurement means are inputted, the output error compensation means outputting output error compensation information so as to compensate an output error;

a driving force error compensation means to which an output of said output error compensation information from said output error compensation means and an output of the measurement value of said driving force from said driving force measurement means are inputted, the driving force error compensation means outputting driving force error compensation information so as to compensate a driving force error; and

an internal state error compensation means to which an output of said driving force error compensation information from said driving force error compensation means and an output of the measurement value of said internal state from said internal state measurement means are inputted, the internal state error compensation means outputting internal state error compensation information so as to compensate an internal state error,

wherein the apparatus performs control such that the measurement value of said output of said movable mechanism driven by said elastic actuator becomes the desired value of said output based on said internal state error compensation information outputted by said internal state error compensation means.

2. An apparatus for controlling an elastic actuator drive-type movable mechanism of an elastic actuator, comprising:

an internal state measurement means for measuring an internal state of said elastic actuator to output a measurement value of said internal state, the internal state being changed by drive of said elastic actuator;

a driving force measurement means for measuring driving force to output a measurement value of said driving force, the driving force being generated by said elastic actuator;

an output measurement means for measuring output of said movable mechanism to output a measurement value of said output, the movable mechanism being driven by said elastic actuator;

an output error compensation means to which a desired value of the output of said movable mechanism driven by said elastic actuator and the measurement value of said output measured by said output measurement means are inputted, the output error compensation means outputting output error compensation information so as to compensate an output error;

a driving force error compensation means to which an output of said output error compensation information from said output error compensation means and an output of the measurement value of said driving force from said driving force measurement means are inputted, the driving force error compensation means outputting driving force error compensation information so as to compensate a driving force error;

a desired internal state determination means for determining a desired value of said internal state of said elastic actuator to output the desired value of said internal state; and

an internal state error compensation means to which an output of said driving force error compensation information from said driving force error compensation means, an output of the desired value of said internal state from said desired internal state determination means, and an output of the measurement value of said internal state from said internal state measurement means are inputted, the internal state error compensation means outputting internal state error compensation information so as to compensate an internal state error,

wherein the apparatus performs control such that the measurement value of said output of said movable mechanism driven by said elastic actuator becomes the desired value of said output based on said internal state error compensation information outputted by said internal state error compensation means.

4. The apparatus for controlling an elastic actuator drive-type movable mechanism according to claim 2, wherein the desired value of said output is inputted to said desired internal state determination means, and said desired internal state determination means determines the desired value of said internal state.

3. An apparatus for controlling an elastic actuator drive-type movable mechanism of an elastic actuator, comprising:

an internal state measurement means for measuring an internal state of said elastic actuator to output a measurement value of said internal state, the internal state being changed by drive of said elastic actuator;

a driving force measurement means for measuring driving force to output a measurement value of said driving force, the driving force being generated by said elastic actuator;

an output measurement means for measuring output of said movable mechanism to output a measurement value of said output, the movable mechanism being driven by said elastic actuator;

an output error compensation means to which a desired value of the output of said movable mechanism driven by said elastic actuator and the measurement value of said output measured by said output measurement means are inputted, the output error compensation means outputting output error compensation information so as to compensate an output error;

a driving force error compensation means to which an output of said output error compensation information from said output error compensation means and an output of the measurement value of said driving force from said driving force measurement means are inputted, the driving force error compensation means outputting driving force error compensation information so as to compensate a driving force error;

a desired internal state determination means for determining a desired value of said internal state of said elastic actuator to output the desired value of said internal state; and

an internal state error compensation means to which an output of the desired value of said internal state from said desired internal state determination means and an output of the measurement value of said internal state from said internal state measurement means are inputted, the internal state error compensation means outputting internal state error compensation information so as to compensate an internal state error,

wherein the apparatus performs control such that the measurement value of said output of said movable mechanism driven by said elastic actuator becomes the desired value of said output based on said internal state error compensation information outputted by said internal state error compensation means and said driving force error compensation information compensated by said driving force error compensation means.

5. A method for controlling an elastic actuator drive-type movable mechanism of an elastic actuator, comprising:

measuring an internal state of said elastic actuator to obtain a measurement value of said internal state, the internal state being changed by drive of said elastic actuator;

measuring driving force to obtain a measurement value of said driving force, the driving force being generated by said elastic actuator;

measuring output of said movable mechanism to obtain a measurement value of said output, the movable mechanism being driven by said elastic actuator;

obtaining output error compensation information so as to compensate an output error from a desired value of said output of said elastic actuator and the measurement value of said output of said elastic actuator;

obtaining driving force error compensation information so as to compensate a driving force error from an output of said output error compensation information and an output of the measurement value of said driving force;

obtaining internal state error compensation information so as to compensate an internal state error from the output of said driving force error compensation information and the output of the measurement value of said internal state; and

thereby performing control such that the measurement value of said output of said movable mechanism driven by said elastic actuator becomes the desired value of said output based on the internal state error compensation information.

6. A method for controlling an elastic actuator drive-type movable mechanism of an elastic actuator, comprising:

measuring an internal state of said elastic actuator to obtain a measurement value of said internal state, the internal state being changed by drive of said elastic actuator;

measuring driving force to obtain a measurement value of said driving force, the driving force being generated by said elastic actuator;

measuring output of said movable mechanism to obtain a measurement value of said output, the movable mechanism being driven by said elastic actuator;

obtaining output error compensation information so as to compensate an output error from a desired value of the output of said movable mechanism driven by said elastic actuator and the measurement value of said measured output;

obtaining driving force error compensation information so as to compensate a driving force error from an output of said output error compensation information and an output of the measurement value of said driving force;

determining a desired value of said internal state of said elastic actuator to obtain the desired value of said internal state;

obtaining internal state error compensation information so as to compensate an internal state error from an output of said driving force error compensation information, an output of the desired value of said internal state, and an output of the measurement value of said internal state; and

thereby performing control such that the measurement value of said output of said movable mechanism driven by the elastic actuator becomes the desired value of said output based on said internal state error compensation information.

7. A method for controlling an elastic actuator drive-type movable mechanism of an elastic actuator, comprising:

measuring an internal state of said elastic actuator to obtain a measurement value of said internal state, the internal state being changed by drive of said elastic actuator;

measuring driving force to obtain a measurement value of said driving force, the driving force being generated by said elastic actuator;

measuring output of said movable mechanism to obtain a measurement value of said output, the movable mechanism being driven by said elastic actuator;

obtaining output error compensation information so as to compensate an output error from a desired value of the output of said movable mechanism driven by said elastic actuator and the measurement value of said output;

obtaining driving force error compensation information so as to compensate a driving force error from an output of said output error compensation information and an output of the measurement value of said driving force;

determining a desired value of said internal state of said elastic actuator to obtain the desired value of said internal state;

obtaining internal state error compensation information so as to compensate an internal state error from an output of the desired value of said internal state and an output of the measurement value of said internal state; and

thereby performing control such that the measurement value of said output of said movable mechanism driven by said elastic actuator becomes the desired value of said output based on said internal state error compensation information and said driving force error compensation information.