WO2008090683A1 - パラレルリンク式搬送装置の制御装置及び制御方法 - Google Patents

パラレルリンク式搬送装置の制御装置及び制御方法 Download PDF

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Publication number
WO2008090683A1
WO2008090683A1 PCT/JP2007/073562 JP2007073562W WO2008090683A1 WO 2008090683 A1 WO2008090683 A1 WO 2008090683A1 JP 2007073562 W JP2007073562 W JP 2007073562W WO 2008090683 A1 WO2008090683 A1 WO 2008090683A1
Authority
WO
WIPO (PCT)
Prior art keywords
parallel link
torque command
command values
controller
conveyed
Prior art date
Application number
PCT/JP2007/073562
Other languages
English (en)
French (fr)
Inventor
Takeshi Takahashi
Original Assignee
Ihi Corporation
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Ihi Corporation filed Critical Ihi Corporation
Publication of WO2008090683A1 publication Critical patent/WO2008090683A1/ja

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/106—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1615—Programme controls characterised by special kind of manipulator, e.g. planar, scara, gantry, cantilever, space, closed chain, passive/active joints and tendon driven manipulators
    • B25J9/1623—Parallel manipulator, Stewart platform, links are attached to a common base and to a common platform, plate which is moved parallel to the base

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Manipulator (AREA)
  • Machine Tool Units (AREA)
  • Control Of Position Or Direction (AREA)

Abstract

【課題】搬送物を移動させている最中においてもリンク先端の位置精度を向上させることができるパラレルリンク式搬送装置の制御装置及び制御方法を提供する。 【解決手段】複数のモータドライバ２５，２６に与える各トルク指令値に、パラレルリンク機構の先端の位置目標値［Ｘ，Ｙ］と搬送物の質量ｍに基づいて求めた複数の補正トルク指令値Ｋｆp、Ｋｆqをそれぞれ加算する。慣性力の影響を反映した補正トルク指令値Ｋｆp、Ｋｆqを、モータドライバ２５，２６へ与えるトルク指令値に加算することによって、パラレルリンク機構を構成する各リンクの運動に対する補償制御を行うことができるので、搬送物を移動させている最中においてもリンク先端の位置精度を向上させることができる。                                                                                         
PCT/JP2007/073562 2007-01-25 2007-12-06 パラレルリンク式搬送装置の制御装置及び制御方法 WO2008090683A1 (ja)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2007-014465 2007-01-25
JP2007014465A JP2008178945A (ja) 2007-01-25 2007-01-25 パラレルリンク式搬送装置の制御装置及び制御方法

Publications (1)

Publication Number Publication Date
WO2008090683A1 true WO2008090683A1 (ja) 2008-07-31

Family

ID=39644261

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2007/073562 WO2008090683A1 (ja) 2007-01-25 2007-12-06 パラレルリンク式搬送装置の制御装置及び制御方法

Country Status (3)

Country Link
JP (1) JP2008178945A (ja)
TW (1) TW200831233A (ja)
WO (1) WO2008090683A1 (ja)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2020520036A (ja) * 2017-05-10 2020-07-02 ムーグ べスローテン フェンノートシャップ 結合アドミタンスコントローラの最適制御

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2010221322A (ja) * 2009-03-23 2010-10-07 Yamatake Corp 位置決め装置
CN106695759B (zh) * 2016-12-13 2023-04-11 九江精密测试技术研究所 一种具有对称混联分支的三自由度并联稳定平台
JP7342352B2 (ja) * 2018-10-25 2023-09-12 株式会社Ihi 搬送装置
TWI728757B (zh) * 2020-03-23 2021-05-21 微正股份有限公司 直接姿態回授控制方法及直接姿態回授控制機器

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2004344899A (ja) * 2003-05-20 2004-12-09 Ishikawajima Harima Heavy Ind Co Ltd パネル搬送装置
JP2006095621A (ja) * 2004-09-28 2006-04-13 Okuma Corp パラレルメカニズム工作機械の位置制御装置

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2004344899A (ja) * 2003-05-20 2004-12-09 Ishikawajima Harima Heavy Ind Co Ltd パネル搬送装置
JP2006095621A (ja) * 2004-09-28 2006-04-13 Okuma Corp パラレルメカニズム工作機械の位置制御装置

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2020520036A (ja) * 2017-05-10 2020-07-02 ムーグ べスローテン フェンノートシャップ 結合アドミタンスコントローラの最適制御
US11400590B2 (en) 2017-05-10 2022-08-02 Moog Bv Optimal control of coupled admittance controllers
JP7303797B2 (ja) 2017-05-10 2023-07-05 ムーグ べスローテン フェンノートシャップ 結合アドミタンスコントローラの最適制御

Also Published As

Publication number Publication date
TW200831233A (en) 2008-08-01
JP2008178945A (ja) 2008-08-07

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