Patent classifications
G
PHYSICS
Load children
G05
CONTROLLING; REGULATING
Load children
G05B
CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
Load children

G05B2219/42012

METHOD OF CONTROLLING A ROBOTIZED ARM SEGMENT MAKING IT POSSIBLE TO ADAPT THE APPARENT STIFFNESS THEREOF
20170282364 · 2017-10-05 · ·

The invention relates to a method of control ling an actuator (1) of an articulated segment (5) comprising the steps of estimating an inertia J of the segment; estimating or measuring a speed of displacement (I) of the segment; synthesizing a control law of type (II) generating a control torque for the segment on the basis of these estimates or measurements and meeting a performance objective pertaining to the loading sensitivity function: (III) K being the desired stiffness, and c a desired damping rate, a a mathematical artifact, (IV), where G(s) is the transfer function (V) for going between the speed (I) (linear or angular) of the segment and an external force F experienced by the segment; and controlling the actuator of the articulated segment according to the control law thus synthesized.

[00001] X . ( I ) H ∞ ( II ) .Math. S F ( s ) .Math. W S ( s ) .Math. ∞ ≤ 1 .Math. .Math. avec .Math. .Math. W s ( s ) = ( J s 2 + .Math. J s 2 + cs + K ) - 1 ( III ) S F ( s ) = G ( s ) .Math. J .Math. s ( IV ) G

Positioning control device of actuator provided with strain wave gearing using H-∞ control
10365628 · 2019-07-30 · ·

A positioning control device of an actuator provided with a strain wave gearing has a full-closed control system for feeding back a position of a load shaft, and driving and controlling a motor so as to position the load shaft at a target position. The full-closed control system has an H compensator designed so that, when a generalized plant having angular transmission error in the strain wave gearing as a disturbance input is assumed, an H norm of a transfer function from the disturbance input of the generalized plant to an evaluation output is a predetermined value or less. Mechanical vibration during positioning response caused by angular transmission error in the strain wave gearing can be reliably suppressed.

POSITIONING CONTROL DEVICE OF ACTUATOR PROVIDED WITH STRAIN WAVE GEARING USING H-INFINITY CONTROL
20180239327 · 2018-08-23 · ·

A positioning control device of an actuator provided with a strain wave gearing has a full-closed control system for feeding back a position of a load shaft, and driving and controlling a motor so as to position the load shaft at a target position. The full-closed control system has an H compensator designed so that, when a generalized plant having angular transmission error in the strain wave gearing as a disturbance input is assumed, an H norm of a transfer function from the disturbance input of the generalized plant to an evaluation output is a predetermined value or less. Mechanical vibration during positioning response caused by angular transmission error in the strain wave gearing can be reliably suppressed.