Control apparatus, control system and control method

摘要

There is provided a control apparatus for controlling a device having a movable unit movable by a plurality of drive shafts. The control apparatus includes: target trajectory generation means for generating a target trajectory for a movement section defined by a start point and an end point; remaining distance estimation means for estimating a remaining distance along the target trajectory from a current position to the end point; acceleration calculation means for calculating an acceleration involved in varying a current movement velocity of the movable unit to a target velocity corresponding to a movement velocity to be satisfied by the movable unit at the end point of the target trajectory, such that a distance that the movable unit will have traveled substantially matches the remaining distance; and movement velocity updating means for calculating a new target movement velocity value by correcting the current movement velocity with the acceleration calculated.

主权项

1. A control apparatus for controlling a device having a movable unit movable by a plurality of drive shafts, comprising:
a memory having a program thereon; and a processor connected to said memory, said processor, when executing the program, being configured to perform operations comprising: when a predetermined condition is satisfied, generating a target trajectory for movement of the movable unit along a movement section defined by a start point and an end point; estimating for a control period, a remaining distance along said target trajectory from a current position to said end point; calculating for the control period, based on the estimated remaining distance, a target acceleration by which a velocity of said movable unit varies from a current movement velocity to a final target velocity such that the velocity of said movable unit at the end of the trajectory matches a final target velocity when said movable unit moves by said remaining distance; calculating for a next control period, a new target movement velocity value by correcting said current movement velocity with the calculated target acceleration, and setting a predetermined number of sampling points defining one or more sections along said target trajectory from said current position to said end point to estimate said remaining distance, wherein said processor is configured to estimate said remaining distance such that setting said predetermined number of sampling points comprises setting said sampling points such that in a section of the target trajectory closer to said current position a spacing of said sampling points is closer than a spacing of said sampling points in a section of the target trajectory farther from said current position.