Device and method for controlling link actuation device
US10065310B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Aug 10, 2016 |
| Grant date | Sep 4, 2018 |
| Priority date | — |
| Expiry date | Oct 27, 2036 |
Classification
- Technology area (CPC F)Mechanical Engineering; Lighting; Heating
- CPC primaryF16H21/46
- WIPO fieldHandling
- WIPO sectorMechanical engineering
Abstract
In this link actuation device, arms of a plurality of link mechanisms are driven to be rotated by actuators, whereby the posture of a distal end side link hub is changed. A divided section setter divides a trajectory on a work surface on which an end effector works, into a plurality of sections at pass points and sets the sections. An arm rotation speed calculator calculates a rotation speed at which each arm performs constant speed rotation in each section on the basis of: a time period of movement in the section which is determined from a target moving speed and the distance of the section; and a rotation-angular movement amount of the arm in the section. A posture change controller performs positioning control on each actuator so as to cause its corresponding arm to continuously rotate at the corresponding rotation speed without acceleration/deceleration.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.