| 摘要 |
PROBLEM TO BE SOLVED: To distribute degrees-of-freedom force instructions, which are smaller in number than actuators, to the actuators while preventing application of excessive force to a machine. SOLUTION: This multi-degrees-of-freedom controller controlling a control object, which can carry out operation of the three-degrees-of-freedom in the X axis, Y axis, andθz axis, is provided with an instruction generator 1 generating an instruction of the degree of freedom, a detector 6 detecting a position, a control computer 2 computing an operation quantity, an inverse transformation computer 3 distributing the operation quantity to thrust instructions for the actuators, an electric current amplifier 4, two actuators generating thrust in the X direction, and two actuators generating thrust in the Y direction. In the multi-degrees-of-freedom controller, an inverse transformation expression distributing the operation quantity of three-degrees-of-freedom led from an equation of three-degrees-of-freedom motion for the control object and a constraint condition expression for preventing constraint is used in processing by the inverse transformation computer 3. COPYRIGHT: (C)2006,JPO&NCIPI
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