JP2549789B2 - Coordinated control method for multiple actuators - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a coordinated control method for a plurality of actuators which are arranged in a plane or in a three-dimensional manner, for example, when an object is gripped and a motion is performed.

[0002]

2. Description of the Related Art In recent years, a micromachine manufacturing technology for manufacturing an extremely small machine of mm square size or less has been developed by applying the fine processing technology cultivated in semiconductor manufacturing technology, and has made great progress. If this micromachine manufacturing technology is applied, thousands of actuators can be manufactured in a planar shape by the printing technology like the semiconductor manufacturing technology. Further, by stacking these actuators arranged in a plane, a three-dimensionally arranged actuator structure is possible. A planar actuator can be expected to have a wide range of applications, for example, as an element substituting a human tactile function, and a three-dimensionally arranged actuator as a spatial control element for a fluid.

[0003]

However, when controlling an object using a large number of actuators manufactured as described above, an extremely enormous computing capacity is required,
There is a problem that it is extremely difficult to secure sufficient processing capability even with a DSP (digital signal processor) or the like, which has rapidly developed in recent years. A few mm
There is also a problem that the corner-sized DSP chip itself becomes considerably larger than the actuator.
Therefore, a simple control method suitable for a large number of densely mounted actuators is desired.

The present invention has been made in view of the above problems, and an object thereof is to reduce the amount of calculation processing when controlling a large number of actuators and simultaneously control a huge amount of actuators. Another object of the present invention is to provide a coordinated control method for a plurality of actuators.

[0005]

In order to solve the above problems, the present invention firstly controls each driving force of a plurality of actuators when the movement of a driven object is controlled by the plurality of actuators. A coordinated control method for a plurality of actuators, wherein a state quantity generated in each actuator by a driven object is detected, and a product of a difference between the state quantity of an adjacent actuator and a predetermined cooperation coefficient is detected for each actuator. The gist is that a proportional driving force is generated.

Secondly, the gist of the above-mentioned first structure is that the cooperation coefficient is given as a time function.

Thirdly, in the first or second configuration, the coordination coefficient is set independently in the x-axis direction and the y-axis direction for the plurality of actuators arranged in a matrix on the XY plane. The point is to become.

Fourthly, in the first, second or third configuration, any one of the contact force of the actuator with respect to the driven object or the position information of the tip of the actuator in contact with the driven object is used as the state quantity. Is the gist.

Fifth, in the above-mentioned first, second, third, or fourth configuration, for each of the actuators, the difference between the state quantity of the neighboring actuator and the state quantity up to the Nth level (N is a plurality) is individually determined. The gist is that the driving force proportional to the sum of the values is multiplied by the above-mentioned coefficient to supplementarily generate the driving force.

[0010]

In the above structure, firstly, by causing each actuator to generate a driving force proportional to the product of the difference between the state quantities of the adjacent actuators and a uniform predetermined cooperation coefficient, The calculation processing amount when controlling a large number of actuators is reduced, and it becomes possible to control a huge amount of actuators at the same time.

Secondly, by giving a cooperative integer as a time function, it is possible to give various changes to the motion locus of the driven object.

Thirdly, by arranging a plurality of actuators in a matrix on the XY plane and setting the coordination coefficient independently in the X-axis direction and the Y-axis direction, the driven object can be two-dimensionally more diverse. It is possible to move along the trajectory.

Fourthly, the state quantity generated in the actuator by the driven object is the contact force of the actuator with respect to the driven object or the tip of the actuator contacting the driven object, depending on the control mode such as support and movement of the driven object. Any of the position information is used.

Fifth, the softness of the driven object can be improved by individually multiplying the difference of the state quantity with the neighboring actuators up to the Nth floor by the cooperation coefficient and auxiliary generating a driving force proportional to the sum. It is possible to easily realize stable support and the like.

[0015]

Embodiments of the present invention will be described below with reference to the drawings.

FIG. 1 is a diagram showing a first embodiment of the present invention. A plurality of (only two in FIG. 1) actuators 101 and 102 are arranged in the x-axis direction at a Δx pitch. Each actuator 101, 102 is movable only in the z-axis direction and is supported by the spring 1 and the damper 2. The detectable state quantity of each actuator 101, 102 is the tip force F _i of the actuator, and these are detected by the pressure sensor arranged at the tip of the actuator.

In this embodiment, a driving force is generated in each of the actuators 101 and 102 based on the first-order difference of the tip force of the actuator to move the object 3 on the actuator. From the relationship of Fig. 1, the tip force F
_i is represented by the driving force Fd _{i of the} actuator and the supporting force Fs _i of the spring 1 as shown in the following equations (1) to (3). Here, the driving force Fd _i of the actuator that controls the movement of the object 3 is given by the coordinated control method represented by the first-order center difference of the equation (2).

F _i = Fd _i + Fs _i (1) Fd _i = A _x (F _{i + 1} −F _i-1 ) / 2Δx (2) Fs _i = c · Δz + k · Δz (3) A _x Cooperation coefficient, c; damping constant, k; spring constant In this embodiment, when the cooperation coefficient A _x is positive, the driving force Fd _i acts upward on an inclined surface having a negative inclination with respect to the x-axis. When the object 3 is pushed up and the inclined surface having a positive inclination is F,
The d _i acts downward so as to pull down the object 3. As a result, the object 3 moves in the positive direction of the x axis as shown in FIG. The motion is reversed when the sign of the cooperation coefficient A _x is switched. As described above, according to the present embodiment, the driving force of the object 3 can be controlled only by the cooperation coefficient which is uniformly given to all the actuators, and the moving direction can be controlled by the sign.

FIG. 3 shows a second embodiment of the present invention. In the figure, each actuator 101, 102 has the same structure as in FIG. 1, and each actuator 101, 102 ...
Are arranged in a matrix on the xy plane at a pitch of Δx and Δy.

In this embodiment, the actuator is developed on the xy plane, and the cooperation coefficients in the xy axial directions are given independently and as a time function. Here, the driving force Fd _{ij of the} actuator is given by equation (4). In order to move an object, the vector of the driving force (acceleration) required to draw a desired trajectory is calculated, and this vector is decomposed into forces in the x and y directions to generate each component force. Should be set. Therefore, the target locus is partially differentiated to obtain the acceleration components in the X direction and the Y direction, and the cooperation coefficients A _x and A _y considering the mass of the object are obtained. As an example, the cooperation coefficient when the target path is the cardioid function is shown in equation (5), and the simulation result is shown in FIG.

Fd _{i, j} = A _x (F _{i + 1, j} −F _{i-1, j} ) / 2Δx + Ay (F _{i, j + 1} −F _{i, j−1} ) / 2Δy (4) A _x , A _y ; Coefficient of cooperation in x-axis direction and y-axis direction A _x = a · cos (ωt) + b · cos (2ωt) A _y = a · sin (ωt) + b · sin (2ωt) (5) a, b: Loop shape parameter ω: Parameter relating to speed of drawing trajectory As described above, in the present embodiment, the X-axis direction cooperation coefficient and the Y-axis direction cooperation coefficient can be given independently and as a time function. It is possible to easily draw various trajectories on the object (sphere) 3 only by the relationship between the two cooperation coefficients.

In this embodiment, in order to facilitate the explanation,
Although the one-degree-of-freedom actuator that moves only in the z-axis direction has been described, it can be applied to a general multi-degree-of-freedom actuator without any trouble. Further, the observation direction of the state quantity can be expanded not only in the Z-axis direction but also in the x-axis direction, the y-axis direction, or the rotation direction of each axis without any trouble.

FIG. 5 shows a third embodiment of the present invention. The present embodiment has the same actuator configuration as in FIG.
This is a case where the actuator driving force that averages the contact force with the object is generated by the second-order difference of the tip force of the actuator. Here, for example, the driving force Fd _{i, j} of the actuator is given by the equation (6).

Fd _i = A _x (F _{i + 1} −2F _i + F _i−1 ) / Δx ² (6) In this embodiment, the driving force acts so that the actuator tip force is averaged, and the cooperation coefficient is calculated. The larger the value of, the larger the actuator elements around the object 3, and the larger the contact area with the object 3, the more stable the operation of supporting the object. Therefore, by adjusting the cooperation coefficient, the object 3
You can easily realize stable support according to the softness of the.

FIG. 6 shows a fourth embodiment of the present invention. The present embodiment has the same actuator configuration as in FIG.
This is a case where the positional deviation between the actuators is minimized by the second-order difference of the tip positions of the actuators. Here, for example, the driving force Fd _{i, j} of the actuator is calculated by the equation (7)
Given in.

Fd _i = A _x (z _{i + 1} −2z _i + z _i−1 ) / Δx ² (7) In the present embodiment, the driving force works so that the displacement between the actuators is minimized, The actuator will move as if the tip of the actuator were connected by a spring like a net. Here, if the cooperation coefficient is increased, the spring force becomes stronger and the number of actuators supporting the object 3 decreases, so that the object 3 is supported in a state in which it easily rolls. Conversely, if the cooperation coefficient is decreased, the number of actuators supporting the object 3 increases. , The object 3 is stably supported.

Some examples of the present invention have been described above. However, if these are combined, an extremely simple control rule can be used to maintain the optimum support state according to the softness and moving speed of the object while maintaining the object. You can manipulate it freely. That is, for example, in the third embodiment, for each actuator, the state quantity N with the neighboring actuators (N is a plurality)
The difference up to the floor may be individually multiplied by the cooperation coefficient, and the driving force proportional to the sum may be supplementarily generated with respect to the driving force of the first embodiment.

In each embodiment, the X-axis direction and Y
Although a common cooperation coefficient is given to the actuators in the axial direction, it is possible to partially change the cooperation constants. Arbitrary trajectory control can be performed on a plurality of objects above.

[0029]

As described above, according to the present invention,
First, since the driving force that is proportional to the product of the difference between the state quantities of adjacent actuators and a predetermined cooperation coefficient is generated for each actuator, the amount of calculation processing when controlling a large number of actuators is increased. It is easy to reduce the number of actuators and simultaneously control a huge amount of actuators.

In addition to the common effects described above, the respective inventions have the following effects.

Secondly, since the cooperation coefficient is given as a time function, various changes can be given to the motion locus of the driven object.

Thirdly, a plurality of actuators are arranged in a matrix on the XY plane, and the coordination coefficient is set independently in the X-axis direction and the Y-axis direction.
It is possible to move along a trajectory that is more dimensionally diverse.

Fourthly, since the state quantity uses either the contact force of the actuator with respect to the driven object or the position information of the tip of the actuator in contact with the driven object, stable support or movement of the driven object can be obtained. It becomes possible to perform the control more appropriately.

Fifth, since the difference between the state quantity of the actuator and the neighboring actuators up to the Nth floor is individually multiplied by the cooperation coefficient, a driving force proportional to the sum thereof is supplementarily generated.
It is possible to easily realize stable support and the like according to the softness of the driven object.

[Brief description of drawings]

FIG. 1 is a diagram showing an arrangement example of a plurality of actuators in a first embodiment of a coordinated control method for a plurality of actuators according to the present invention.

FIG. 2 is a diagram for explaining movement of an object in the first embodiment.

FIG. 3 is a diagram showing an arrangement example of a plurality of actuators in a second embodiment of the present invention.

FIG. 4 is a diagram showing an example of a movement trajectory of an object in the second embodiment.

FIG. 5 is a diagram showing an arrangement example of a plurality of actuators in a third embodiment of the present invention.

FIG. 6 is a diagram showing an arrangement example of a plurality of actuators in a fourth embodiment of the present invention.

[Explanation of symbols]

 3 Objects 101, 102, 103, ... Actuators

Claims (5)

(57) [Claims] 1. A coordinated control method of a plurality of actuators for controlling each driving force of the plurality of actuators when the movements of the driven object are controlled by the plurality of actuators, the state being generated in each of the actuators by the driven object. Amount is detected and a driving force proportional to the product of the difference between the state quantities of adjacent actuators and a predetermined cooperation coefficient is generated for each actuator, and cooperative control of a plurality of actuators is characterized. Method. 2. The cooperative control method for a plurality of actuators according to claim 1, wherein the cooperation coefficient is given as a time function. 3. The cooperation coefficient is set independently in the x-axis direction and the y-axis direction for the plurality of actuators arranged in a matrix on the XY plane. Control method for multiple actuators in the above. 4. The plurality of actuators according to claim 1, wherein either the contact force of the actuator with respect to the driven object or the position information of the tip of the actuator in contact with the driven object is used as the state quantity. Coordinated control method. 5. For each of the actuators, the difference up to the Nth (N is a plurality) level of the state quantity with respect to the neighboring actuators is individually multiplied by the cooperation coefficient, and a driving force proportional to the sum is supplementarily provided. 5. The coordinated control method for a plurality of actuators according to claim 1, 2, 3 or 4, wherein the coordinated control is performed.