| 摘要 |
PROBLEM TO BE SOLVED: To provide a control method and a control device for a parallel mechanism machine, performing the correction for an actuator command value with high accuracy in consideration of elastic deformation amount of a universal joint with a small calculation amount. SOLUTION: In the step S1, each actuator command value is obtained based on a mechanism parameter. In the step S2, the load due to the dead load of the respective components of the machine is calculated, and in the step S3, each actuator axial load is obtained. In the step S4, each strut axial load is decomposed in the first and second universal joint axial directions. In the step S5, the elastic deformation amount of each component is obtained, and in the step S6, the elastic deformation amount of each universal joint is approximated and converted to each actuator axial displacement. In the step S7, each actuator command value is subtracted and updated by each actuator axial displacement obtained in the steps S5 and S6, and the parallel mechanism machine is controlled based on each updated actuator command value. COPYRIGHT: (C)2005,JPO&NCIPI |
