Control apparatus and method for controlling a control subject

• US 7,847,503 B2
• Filed: 05/30/2008
• Issued: 12/07/2010
• Est. Priority Date: 05/31/2007
• Status: Active Grant

• Current Assignee: Kabushiki Kaisha Toshiba (Toshiba Corporation)
• Original Assignee: Kabushiki Kaisha Toshiba (Toshiba Corporation)
• Inventors: Ooga, Junichiro
• Primary Examiner(s): Benson; Walter
• Assistant Examiner(s): COLON SANTANA, EDUARDO
• Application Number:
  US12/129,749
• Publication Number:
  US 20080297094A1
• Time in Patent Office: 921 Days
• Field of Search: 318/566, 318/567, 318/568.1, 318/568.11, 318/568.12, 318/568.2, 318/568.21, 318/573, 318/632, 901/1, 901/2, 901/8, 700/245, 700/250, 700/263
• US Class Current: 318/568.11
• CPC Class Codes: B25J 9/1628 characterised by the control loop
• CPC Class Codes: G05B 19/4086 Coordinate conversions; Other special calculations
• CPC Class Codes: G05B 2219/41357 Belt
• CPC Class Codes: G05B 2219/41413 Forward kinematics
• CPC Class Codes: G05B 2219/42093 Position and current, torque control loop

Abstract

A control apparatus includes: a memory storing data regarding an interference matrix; a position compensation calculator calculating position compensation by using the data based on a target position of an output shaft and a detected position of the output shaft; a torque compensation calculator calculating torque compensation by using the data based on the detected position of the output shaft and a detected position of a drive shaft; and a command value calculation unit calculating a command value for the drive source based on the position compensation and the torque compensation.

Claims

1. A control apparatus for controlling a control subject comprising a drive shaft, an output shaft, a drive source for driving the drive shaft, and a drive force transmitting tool for transmitting a drive force from the drive shaft to the output shaft, comprising:

a memory configured to store data regarding an interference matrix representing a relationship between a position of the output shaft and a position of the drive shaft;

a position compensation calculator configured to calculate position compensation for the drive shaft by using the data based on a target position of the output shaft and a detected position of the output shaft;

a torque compensation calculator configured to calculate torque compensation for the drive shaft by using the data based on the detected position of the output shaft and a detected position of the drive shaft;

a command value calculation unit configured to calculate a command value based on the position compensation and the torque compensation; and

an output unit configured to output a signal to the drive source based on the command value.

2. The control apparatus of claim 1, wherein the position compensation calculator comprises:

a first deviation calculation unit configured to calculate a first deviation between the target position and the detected position of the output shaft;

a second deviation calculation unit configured to calculate a second deviation using the data based on the first deviation;

a speed calculation unit configured to calculate a speed of the drive shaft based on the detected position of the drive shaft; and

a position compensation calculation unit configured to calculate the position compensation based on the second deviation and the speed.

3. The control apparatus of claim 1, wherein the torque compensation calculator comprises:

an assumed position calculation unit configured to calculate an assumed position of the drive shaft by converting the detected position of the output shaft by using the data; and

a torque compensation calculation unit configured to calculate the torque compensation based on a difference between the assumed position and the detected position of the drive shaft.

4. The control apparatus of claim 3, further comprising a correction unit configured to correct the data based on the difference.

5. The control apparatus of claim 4, wherein the correction unit calculates a temporal differentiation of the difference, and corrects the data based on the time difference.

6. The control apparatus of claim 3, further comprising a target position calculation unit configured to calculate the target position, and

the correction unit corrects the data the target position in a cycle longer than a cycle for calculating the target position.

7. The control apparatus of claim 1, further comprising a force compensation calculation unit configured to calculate force compensation based on a force applied to the output shaft.

8. The control apparatus of claim 7, wherein the command value calculation unit calculates the command value based on the position compensation, the torque compensation and the force compensation.

9. The control apparatus of claim 1, further comprising a force compensation calculation unit configured to calculate force compensation using the data based on a torque applied to the output shaft.

10. A method for controlling a control subject comprising a drive shaft, a output shaft, a drive source for driving the drive shaft, and a drive force transmitting tool for transmitting a drive force from the drive shaft to the output shaft, comprising:

calculating position compensation for the drive shaft using data regarding an interference matrix representing a relationship between a position of the output shaft and a position of the drive shaft, based on a target position of the output shaft and a detected position of the output shaft;

calculating a torque compensation for the drive shaft using the data based on the detected position of the output shaft and a detected position of the drive shaft;

calculating a command value based on the position compensation and the torque compensation; and

outputting a signal to the drive source based on the command value.

11. The method of claim 10, wherein calculating the position compensation comprises:

calculating a first deviation between the target position and the detected position of the output shaft;

calculating second deviation using the data based on the deviation;

calculating a speed of the drive shaft based on the detected position of the drive shaft; and

calculating the position compensation based on the second deviation and the speed.

12. The method of claim 10, wherein calculating the torque compensation comprises:

calculating an assumed position of the drive shaft by converting the detected position of the output shaft using the data; and

calculating the torque compensation based on a difference between the assumed position and the detected position of the drive shaft.

13. The method of claim 12, further comprising correcting the data based on the difference.

14. The method of claim 13, wherein correcting the data comprises:

calculating a time difference of the difference; and

correcting the data based on the time difference.

15. The method of claim 14, further comprising calculating the target position, and

the correcting of the data comprises correcting the data of the target position in a cycle longer than a cycle for calculating the target position.

16. The method of claim 10, further comprising calculating force compensation based on a force applied to the output shaft.

17. The method of claim 16, wherein calculating the command value comprises calculating the command value based on the force compensation.

18. The method of claim 10, further comprising calculating force compensation using the data based on a torque applied to the output shaft.

19. A robot comprising:

a drive shaft;

an output shaft;

a drive source configured to drive the drive shaft; and

a drive force transmitting tool configured to transmit a drive force from the drive shaft to the output shaft;

a drive shaft position detector configured to detect a position of the drive shaft;

an output shaft position detector configured to detect a position of the output shaft;

a control apparatus comprising;

a memory configured to store data regarding an interference matrix representing a relationship between a position of the output shaft and a position of the drive shaft;

a position compensation calculator configured to calculate position compensation for the drive shaft by using the data based on a target position of the output shaft and a detected position of the output shaft;

a torque compensation calculator configured to calculate torque compensation for the drive shaft by using the data based on the detected position of the output shaft and a detected position of the drive shaft;

a command value calculation unit configured to calculate a command value based on the position compensation and the torque compensation; and

an output unit configured to output a signal based on the command value; and

,

a drive source configured to drive the drive shaft based on the signal.