CONTROL DEVICE AND CONTROL METHOD FOR ELASTIC ACTUATOR AND CONTROL PROGRAM

摘要

The inner pressure of an actuator is measured by a pressure measuring means (9).  The amount of displacement of a movable mechanism is measured.  The target value and the measured value of displacement are input, and a positional error is compensated by a positional error compensating means (12).  The target value for the pressure difference in an actuator to be driven is measured by a target pressure difference measuring means (14).  The value obtained by adjusting and correcting the target value for the pressure difference on the basis of the target value and the measured value of displacement is adaptively output by an adaptive target inside state correction means (111).  The outputs from these means are input, to compensate for errors in the pressure difference using a pressure difference error compensating means (15).