| 摘要 |
PROBLEM TO BE SOLVED: To provide a controller and a control method for a parallel link mechanism improving a follow-up property for an ideal moving locus without preparing a correction value before hand when outputting a command value to a motor provided in respective link mechanisms for the parallel link mechanism. SOLUTION: The controller for the parallel link mechanism includes a command value correction section for: acquiring information of actual position indicating the position and attitude of an end effector varied by the link mechanism; adding the correction amount according to a deviation amount based on the command value outputted to the link mechanism and the acquired information of the actual position to the next command value; and outputting the command value with the correction amount added to it to respective servo motors for the link mechanism. In this case the command value correction section outputs the corrected command value to respective servo motors for the link mechanism in the first control cycle to move the end effector to a target position and attitude and in a control cycle that is other than a last control cycle in which the end effector reaches the target position and attitude. COPYRIGHT: (C)2011,JPO&INPIT
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