Apparatus and method for controlling elastic actuator
First Claim
1. An apparatus for controlling an elastic actuator, comprising:
- an internal state measurement means for measuring an internal state of said elastic actuator, the internal state being changed by drive of said elastic actuator;
an output measurement means for measuring an output of said elastic actuator;
an output error compensation means for compensating an output error by inputting a desired value of the output of said elastic actuator and a measurement value of the output of said elastic actuator, the measurement value being measured by said output measurement means;
a desired internal state determination means for determining a desired value of the internal state of said elastic actuator from the desired value of the output of said elastic actuator and the measurement value of the output of said elastic actuator; and
an internal state error compensation means for compensating an internal state error by inputting an output from said output error compensation means, an output from said desired internal state determination means, and an output from said internal state measurement means,the apparatus performing control such that the measurement value of said output of said elastic actuator becomes the desired value of said output based on said internal state error compensated by said internal state error compensation means.
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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.
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Citations
12 Claims
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1. An apparatus for controlling an elastic actuator, comprising:
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an internal state measurement means for measuring an internal state of said elastic actuator, the internal state being changed by drive of said elastic actuator; an output measurement means for measuring an output of said elastic actuator; an output error compensation means for compensating an output error by inputting a desired value of the output of said elastic actuator and a measurement value of the output of said elastic actuator, the measurement value being measured by said output measurement means; a desired internal state determination means for determining a desired value of the internal state of said elastic actuator from the desired value of the output of said elastic actuator and the measurement value of the output of said elastic actuator; and an internal state error compensation means for compensating an internal state error by inputting an output from said output error compensation means, an output from said desired internal state determination means, and an output from said internal state measurement means, the apparatus performing control such that the measurement value of said output of said elastic actuator becomes the desired value of said output based on said internal state error compensated by said internal state error compensation means. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. An apparatus for controlling an elastic actuator, comprising:
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an internal state measurement means for measuring an internal state of said elastic actuator, the internal state being changed by drive of said elastic actuator; an output measurement means for measuring an output of said elastic actuator; an output error compensation means for compensating an output error by inputting a desired value of the output of said elastic actuator and a measurement value of the output of said elastic actuator, the measurement value being measured by said output measurement means; a desired internal state determination means for determining a desired value of the internal state of said elastic actuator from the desired value of the output of said elastic actuator and the measurement value of the internal state of said elastic actuator, the measurement value being measured by said internal state measurement means; and an internal state error compensation means for compensating an internal state error by inputting an output from said output error compensation means, an output from said desired internal state determination means, and an output from said internal state measurement means, the apparatus performing control such that the measurement value of said output of said elastic actuator becomes the desired value of said output based on said internal state error compensated by said internal state error compensation means.
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11. A method for controlling an elastic actuator, comprising:
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measuring an internal state of said elastic actuator with an internal state measurement means, the internal state being changed by drive of said elastic actuator; measuring an output of said elastic actuator with an output measurement means; compensating an output error with an output error compensation means by inputting a desired value of the output of said elastic actuator and a measurement value of the output of said elastic actuator to the output error compensation means, the measurement value being measured by said output measurement means; determining a desired value of the internal state of said elastic actuator from the desired value of the output of said elastic actuator with a desired internal state determination means; compensating an internal state error with said internal state error compensation means by inputting an output from said output error compensation means, an output from said desired internal state determination means, and an output from said internal state measurement means to an internal state error compensation means; and thereby performing control such that the measurement value of said output of said elastic actuator becomes the desired value of said output of said elastic actuator.
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12. A method for controlling an elastic actuator, comprising:
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measuring an internal state of said elastic actuator with an internal state measurement means, the internal state being changed by drive of said elastic actuator; measuring an output of said elastic actuator with an output measurement means; compensating an output error with an output error compensation means by inputting a desired value of the output of said elastic actuator and a measurement value of the output of said elastic actuator to the output error compensation means, the measurement value being measured by said output measurement means; determining a desired value of the internal state of said elastic actuator from the desired value of the output of said elastic actuator and the measurement value of the internal state of said elastic actuator with a desired internal state determination means; compensating an internal state error with an internal state error compensation means by inputting an output from said output error compensation means, an output from said desired internal state determination means, and an output from said internal state measurement means to the internal state error compensation means; and thereby performing control such that the measurement value of said output of said elastic actuator becomes the desired value of said output.
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Specification