发明名称 |
CONTROL APPARATUS, CONTROL METHOD, AND CONTROL PROGRAM FOR ELASTIC ACTUATOR DRIVE MECHANISM |
摘要 |
An abnormality determination unit that determines whether or not an output measurement unit is abnormal is provided, and whether or not the output measurement unit is abnormal is determined. When the output measurement unit is abnormal, an elastic actuator is controlled based on a desired internal state decision unit and an internal state error compensation unit. Accordingly, it becomes possible to control the elastic actuator to continuously operate to a predetermined position without instantaneously stopping even when the output measurement unit is abnormal. |
申请公布号 |
US2012133318(A1) |
申请公布日期 |
2012.05.31 |
申请号 |
US201213366638 |
申请日期 |
2012.02.06 |
申请人 |
KOMATSU MAYUMI;OKAZAKI YASUNAO |
发明人 |
KOMATSU MAYUMI;OKAZAKI YASUNAO |
分类号 |
G05B9/02 |
主分类号 |
G05B9/02 |
代理机构 |
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代理人 |
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主权项 |
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地址 |
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