Simulation method and apparatus for manipulator apparatus, simulation and control method and apparatus for manipulator apparatus, and control method and apparatus for manipulator apparatus
First Claim
1. A simulation method for a manipulator apparatus which includes a manipulator and a manipulator body for supporting said manipulator thereon and whose attitude can be controlled by rotation of wheels in a wheel system, comprising the steps of inputting information of an articulation angle, an articulation angular velocity and an articulation angular acceleration of said manipulator, and calculating three-dimensional dynamics of said entire manipulator apparatus including an attitude control system on a real time basis based on said information, by performing dynamics calculations without a correction term based on the laws of conservation of linear and angular momentum and time differentiation of the laws using the laws of conservation of linear and angular momentum of the entire system, reverse dynamics or normal dynamics of the wheel system;
- and displaying motion of said manipulator apparatus by simulation display on a display.
1 Assignment
0 Petitions
Accused Products
Abstract
The present invention relates to a simulation or control method and apparatus for a manipulator apparatus and makes it possible to calculate three-dimensional dynamics of the entire manipulator apparatus on the real time basis using the laws of conservation of momentum/angular momentum of the entire system, reverse dynamics or normal dynamics of a wheel system to display motion of the manipulator apparatus by simulation display on a display (2) and control the manipulator apparatus.
31 Citations
44 Claims
-
1. A simulation method for a manipulator apparatus which includes a manipulator and a manipulator body for supporting said manipulator thereon and whose attitude can be controlled by rotation of wheels in a wheel system, comprising the steps of inputting information of an articulation angle, an articulation angular velocity and an articulation angular acceleration of said manipulator, and calculating three-dimensional dynamics of said entire manipulator apparatus including an attitude control system on a real time basis based on said information, by performing dynamics calculations without a correction term based on the laws of conservation of linear and angular momentum and time differentiation of the laws using the laws of conservation of linear and angular momentum of the entire system, reverse dynamics or normal dynamics of the wheel system;
- and displaying motion of said manipulator apparatus by simulation display on a display.
-
2. A simulation apparatus for a manipulator apparatus which includes a manipulator and a manipulator body for supporting said manipulator thereon and whose attitude can be controlled by rotation of wheels in a wheel system, comprising:
-
a manipulator articulation information inputting section for inputting information of an articulation angle, an articulation angular velocity and an articulation angular acceleration of said manipulator; a display for displaying motion of said manipulator apparatus by simulation display thereon; a three-dimensional dynamics real time simulation section for receiving information from said manipulator articulation information inputting section and for calculating three-dimensional dynamics of said entire manipulator apparatus including an attitude control system on a real time basis by performing dynamics calculation without a correction term based on the laws of conservation of linear and annular momentum and time differentiation of the law using the laws of conservation of linear and angular momentum of the entire system, reverse dynamics or normal dynamics of the wheel system, said simulation section causing said display to display motion of said manipulator apparatus by simulation display. - View Dependent Claims (3, 4, 5, 6, 7, 8, 9, 10)
-
-
11. A simulation and control method for a manipulator apparatus, said apparatus including:
-
a manipulator, a manipulator body for supporting said manipulator thereon, and an attitude control system by which attitude can be controlled by rotation of wheels in a wheel system, a manipulator control system for inputting information of an articulation angle, an articulation angular velocity and an articulation angular acceleration of said manipulator and for controlling said manipulator, and a cooperative control system having means for calculating a disturbance originating from said manipulator based on information from said manipulator control system using a required algorithm and for supplying the disturbance as a feed forward signal to said attitude control system, and said cooperative control system having means for taking, in order to compensate for the disturbance originating from said manipulator, an angular momentum or a wheel angular velocity obtained by dividing the angular momentum by a mass of each of said wheels or a torque as a feed forward amount to be delivered to said wheel control system of said attitude control system and for calculating an aimed angular momentum or an aimed angular velocity of said wheels from the laws of conservation of linear and angular momentum or reverse dynamics for the universe to control said wheels, comprising the steps of inputting information of an articulation angle, an articulation angular velocity and an articulation angular acceleration of said manipulator, calculating three-dimensional dynamics of said entire manipulator apparatus on a real time basis based on the information using the laws of conservation of linear and angular momentum of the entire system, reverse dynamics or normal dynamics of the wheel system, and displaying motion of said manipulator apparatus by simulation display on a display. - View Dependent Claims (12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22)
-
-
23. A simulation and control apparatus for a manipulator apparatus which includes a manipulator and a manipulator body for supporting said manipulator thereon and whose attitude can be controlled by rotation of wheels, comprising:
-
a manipulator articulation information inputting section for inputting information of an articulation angle, an articulation angular velocity and an articulation angular acceleration of said manipulator, a display for displaying motion of said manipulator apparatus by simulation display thereon, and a three-dimensional dynamics real time simulation section for receiving information from said manipulator articulation information inputting section and calculating three-dimensional dynamics of said entire manipulator apparatus including an attitude control system on a real time basis using the laws of conservation of linear and angular momentum of the entire system, reverse dynamics or normal dynamics of the wheel system to cause said display to display motion of said manipulator apparatus by simulation display, an attitude control system for controlling an attitude of said manipulator apparatus using said wheels, a manipulator control system for inputting information of an articulation angle, an articulation angular velocity and an articulation angular acceleration of said manipulator and controlling said manipulator, and a cooperative control system for calculating a disturbance originating from said manipulator based on the information from said manipulator control system using a required algorithm and supplying the disturbance as a feed forward signal to said attitude control system, and said cooperative control system takes, in order to compensate for the disturbance originating from said manipulator, an angular momentum or a wheel angular velocity obtained by dividing the angular momentum by a mass of each of said wheels or a torque as a feed forward amount to be delivered to said wheel control system of said attitude control system and calculates an aimed angular momentum or an aimed angular velocity of said wheels from the laws of conservation of momentum or reverse dynamics for the universe to control said wheels. - View Dependent Claims (24)
-
-
25. A control method for a manipulator apparatus, said apparatus including a manipulator and a manipulator body for supporting said manipulator thereon, an attitude control system for controlling an attitude of said manipulator apparatus by using rotation of wheels, a manipulator control system for controlling said manipulator, and a cooperative control system,
said method comprising the steps: -
calculating in said cooperative control system a disturbance originating from said manipulator based on information from said manipulator control system using a required algorithm and supplying the disturbance as a feed forward signal to said attitude control system, and taking by said cooperative control system, in order to compensate for the disturbance originating from said manipulator, an angular momentum or a wheel angular velocity obtained by dividing the angular momentum by a mass of each of said wheels as a feed forward amount and delivering said amount to a wheel control system of said attitude control system and calculating an aimed angular momentum or an aimed angular velocity of said wheels from the laws of conservation of linear and angular momentum to control said wheels.
-
-
26. A control method for a manipulator apparatus, said apparatus including a manipulator and a manipulator body for supporting said manipulator thereon, an attitude control system for controlling an attitude of said manipulator apparatus by using rotation of wheels, a manipulator control system for controlling said manipulator, and a cooperative control system,
said method comprising the steps: -
calculating in said cooperative control system a disturbance originating from said manipulator based on information from said manipulator control system using a required algorithm and supplying the disturbance as a feed forward signal to said attitude control system, and taking by said cooperative control system, in order to compensate for the disturbance originating from said manipulator, a torque as a feed forward amount and delivering said amount to a wheel control system of said attitude control system and calculating a value of the torque from reverse dynamics to control said wheels.
-
-
27. A control method for a manipulator apparatus, said apparatus including a manipulator and a manipulator body for supporting said manipulator thereon, an attitude control system for controlling an attitude of said manipulator apparatus by using rotation of wheels, a manipulator control system for controlling said manipulator, and a cooperative control system,
said method comprising the steps: -
calculating in said cooperative control system a disturbance originating from said manipulator based on information from said manipulator control system using a required algorithm and supplying the disturbance as a feed forward signal to said attitude control system, and taking by said cooperative control system, in order to compensate for the disturbance originating from said manipulator, one of an angular momentum, a wheel angular velocity obtained by dividing the angular momentum by a mass of each of said wheels and a torque as a feed forward amount and delivering said amount to a wheel control system of said attitude control system and calculating respectively one of an aimed angular momentum and an aimed angular velocity of said wheels from the laws of conservation of momentum and reverse dynamics to control said wheels.
-
-
28. A simulation method for a manipulator apparatus which includes a manipulator and a manipulator body for supporting said manipulator thereon, comprising the steps of
inputting route instruction value information of said manipulator as an initial instruction value and forecasting information of a disturbance which is produced when said manipulator operates in accordance with the initial instruction value on a real time basis as an excessive instruction value control index based on a dynamic model regarding said manipulator, and performing scale conversion for the initial instruction value based on the excessive instruction value control index to obtain an intermediate instruction value, and thereafter displaying motion of said manipulator by simulation display in accordance with the intermediate instruction value obtained by the scale conversion.
-
37. A simulation apparatus for a manipulator apparatus which includes a manipulator and a manipulator body for supporting said manipulator thereon, comprising:
-
initial instruction value inputting means for inputting route instruction value information of said manipulator as an initial instruction value, excessive instruction value control index forecasting means for receiving the initial instruction value from said initial instruction value inputting means and forecasting information of a disturbance, which is produced when said manipulator operates in accordance with the initial instruction value, on a real time basis as an excessive instruction value control index based on a dynamic model regarding said manipulator, scale conversion means for performing scale conversion for the initial instruction value based on the excessive instruction value control index forecast by said excessive instruction value control index forecasting means to obtain an intermediate instruction value, and display means for displaying motion of said manipulator by simulation display in accordance with the intermediate instruction value obtained by the conversion of said scale conversion means.
-
-
38. A simulation and control method for a manipulator apparatus which includes a manipulator and a manipulator body for supporting said manipulator thereon, wherein
route instruction value information of said manipulator is inputted as an initial instruction value and information of a disturbance, which is produced when said manipulator operates in accordance with the initial instruction value, is forecast on a real time basis as an excessive instruction value control index based on a dynamic model regarding said manipulator, and scale conversion is performed for the initial instruction value based on the excessive instruction value control index to obtain an intermediate instruction value, and then motion of said manipulator is displayed by simulation display and said manipulator is controlled in accordance with the intermediate instruction value obtained by the scale conversion.
-
42. A simulation and control apparatus for a manipulator apparatus which includes a manipulator and a manipulator body for supporting said manipulator thereon, comprising:
-
initial instruction value inputting means for inputting route instruction value information of said manipulator as an initial instruction value, excessive instruction value control index forecasting means for receiving the initial instruction value from said initial instruction value inputting means and forecasting information of a disturbance, which is produced when said manipulator operates in accordance with the initial instruction value, on a real time basis as an excessive instruction value control index based on a dynamic model regarding said manipulator, scale conversion means for performing scale conversion for the route instruction value information based on the excessive instruction value control index forecast by said excessive instruction value control index forecasting means to obtain an intermediate instruction value, display means for displaying motion of said manipulator by simulation display in accordance with the intermediate instruction value obtained by the conversion of said scale conversion means, and control means for controlling said manipulator in accordance with the intermediate instruction value obtained by the conversion of said scale conversion means.
-
-
43. A control method for a manipulator apparatus which includes a manipulator and a manipulator body for supporting said manipulator thereon, characterized in that
route instruction value information of said manipulator is inputted as an initial instruction value and information of a disturbance, which is produced when said manipulator operates in accordance with the initial instruction value, is forecast on the real time basis as an excessive instruction value control index based on a dynamic model regarding said manipulator, and scale conversion is performed for the initial instruction value based on the excessive instruction value control index to obtain an intermediate instruction value, and then said manipulator is controlled in accordance with the intermediate instruction value obtained by the scale conversion.
-
44. A control apparatus for a manipulator apparatus (12) which includes a manipulator and a manipulator body for supporting said manipulator thereon, characterized in that it comprises
initial instruction value inputting means for inputting route instruction value information of said manipulator as an initial instruction value, excessive instruction value control index forecasting means for receiving the initial instruction value from said initial instruction value inputting means and forecasting information of a disturbance, which is produced when said manipulator operates in accordance with the initial instruction value, on the real time basis as an excessive instruction value control index based on a dynamic model regarding said manipulator, scale conversion means for performing scale conversion for the route instruction value information based on the excessive instruction value control index forecast by said excessive instruction value control index forecasting means to obtain an intermediate instruction value, and control means for controlling said manipulator in accordance with the intermediate instruction value obtained by the conversion of said scale conversion means.
Specification