Robot, servo circuit, actuator, robot control method, and actuator control method

• US 6,472,839 B1
• Filed: 01/19/2001
• Issued: 10/29/2002
• Est. Priority Date: 04/05/1999
• Status: Expired due to Fees

• Current Assignee: Sony Corporation (Sony Group Corp.)
• Original Assignee: Sony Corporation (Sony Group Corp.)
• Inventors: Ishii, Shinji, Kuroki, Yoshihiro
• Primary Examiner(s): Ro, Bentsu
• Application Number:
  US09/701,396
• Time in Patent Office: 648 Days
• Field of Search: 318/567, 318/568.1, 318/568.11, 318/568.22, 318/568.12, 901/14, 901/15, 901/19, 901/23, 901/27, 901/28, 901/29
• US Class Current: 318/568.12
• CPC Class Codes: B25J 9/1638 compensation for arm bending/inertia, pay load weight/inertia
• CPC Class Codes: B62D 57/032 with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid B62D57/024 takes precedence
• CPC Class Codes: G05B 2219/40358 Inertial, from dynamic models
• CPC Class Codes: G05B 2219/41381 Torque disturbance observer to estimate inertia

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.

Claims

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.

2. The robot according to claim 1, wherein:

the actuators are provided for the joints of the legs; and

said robot is a robot that can be moved by driving the actuators.

3. The robot according to claim 1, wherein:

said driving means sets the response from each actuator and the response from the model so as to coincide with each other by correcting the control value using a predetermined gain; and

said driving means corrects the value of the moment of inertia of the model based on the gain, and detects the moment of inertia of each actuator.

4. The robot according to claim 1, wherein:

said driving means corrects the control value by setting the control value to an offset value, thereby setting the response from each actuator and the response from the model so as to coincide with each other; and

said driving means detects a load caused by a disturbance by correcting a motional friction coefficient of the model using the offset value, and outputs the load caused by the disturbance as a result of the driving together with the moment of inertia.

5. A robot having joints which uses actuators to drive said joints, said robot comprising:

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;

wherein

said actuator control means controls the actuators based on the control objects, the results of the detection and the responses.

6. A robot comprising:

control means for sequentially outputting target values for actuators;

control-value correcting means for outputting a correction value for each target value based on a result of driving each actuator; and

driving means for generating a control value by correcting each target value 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-simulating system for simulating 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-simulating 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 based on a result of the correction, and outputs the value of the moment of inertia.

7. The robot according to claim 6, wherein:

the actuators are provided for the joints of the legs; and

said robot is a robot that can be moved by driving the actuators.

8. The robot according to claim 6, wherein:

said driving means sets the response from each actuator and the response from the model so as to coincide with each other by correcting the control value using a predetermined gain; and

said driving means corrects the value of the moment of inertia of the model based on the gain, and detects the moment of inertia of each actuator.

9. The robot according to claim 6, wherein:

said diving means corrects the control value by setting the control value to an offset value, thereby setting the response from each actuator and the response from the model so as to coincide with each other; and

said driving means detects a load caused by a disturbance by correcting a motional friction coefficient of the model using the offset value, and outputs the load caused by the disturbance as a result of the driving together with the moment of inertia.

10. A robot having joints which uses actuators to drive said joints, said robot comprising:

control-object output means for outputting target values 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 target values;

wherein;

said actuator control means controls the actuators based on the target values, the results of the detection and the responses.

11. A method for controlling a robot which has joints and actuators to drive the joints, comprising the steps of:

outputting control target value;

outputting a correction value for each control target value based on a result of driving each actuator;

generating a control value by correcting the control target value; and

driving each actuator based on the control value;

said driving step comprising;

driving each actuator in accordance with the control value;

simulating a mathematical model of each actuator in accordance with the control value;

correcting the control value so that a response from each actuator and a response from the mathematical model coincide with each other;

detecting at least moment of inertia of each actuator based on a result of the correction; and

outputting the value of the moment of inertia.

12. The method according to claim 11, wherein:

the actuators are provided for joints of legs of the robot; and

said robot is a robot that can be moved by driving the actuators.

13. The method according to claim 11, wherein:

the response from each actuator and the response from the model are set so as to coincide with each other by correcting the control target value using a predetermined gain; and

the value of the moment of inertia of the model is corrected based on the gain, and detects the moment of inertia of each actuator.

14. The method according to claim 11, wherein:

the control target value is corrected by setting the control value to an offset value, thereby setting the response from each actuator and the response from the model so as to coincide with each other;

detecting a load caused by a disturbance by correcting a motional friction coefficient of the model using the offset value; and

outputting the load caused by the disturbance as a result of the driving together with the moment of inertia.