Invention Grant
- Patent Title: Control apparatus and method for controlling a control subject
- Patent Title (中): 用于控制控制对象的控制装置和方法
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Application No.: US12129749Application Date: 2008-05-30
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Publication No.: US07847503B2Publication Date: 2010-12-07
- Inventor: Junichiro Ooga
- Applicant: Junichiro Ooga
- Applicant Address: JP Tokyo
- Assignee: Kabushiki Kaisha Toshiba
- Current Assignee: Kabushiki Kaisha Toshiba
- Current Assignee Address: JP Tokyo
- Agency: Turocy & Watson, LLP
- Priority: JP2007-144999 20070531
- Main IPC: G05B19/04
- IPC: G05B19/04 ; B25J9/00
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.
Public/Granted literature
- US20080297094A1 CONTROL APPARATUS, CONTROL METHOD, PROGRAM AND ROBOT Public/Granted day:2008-12-04
Information query
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