CONTROL DEVICE AND CONTROL PROGRAM

• Main Authors: MAEBA KATSUMI, FUNAIWA KIYOSHI, HARADA NOBUHIRO, KOGA TATSUYA
• Format: Patent
• Language: English; Japanese
• Published: 15.03.2018
• Subjects: BASIC ELECTRIC ELEMENTS; CONTROL OR REGULATING SYSTEMS IN GENERAL; CONTROLLING; ELECTRIC SOLID STATE DEVICES NOT OTHERWISE PROVIDED FOR; ELECTRICITY; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS ORELEMENTS; PHYSICS; REGULATING; SEMICONDUCTOR DEVICES; SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES

PROBLEM TO BE SOLVED: To provide a configuration capable of achieving pressing control at a low load at a high speed and with high accuracy, while adopting a general device configuration.SOLUTION: There is provided a control device which changes a relative distance between an object and a moving member and controls the size of a load applied to the object from the moving member. The control device includes first control means for sequentially calculating a command value about the moving member according to a pattern about a predetermined speed or position and second control means for sequentially calculating the command value about the moving member according to a control arithmetic expression corresponding to impedance control instead of the calculation of the command value by the first control means, when a predetermined first condition is satisfied.SELECTED DRAWING: Figure 7 【課題】一般的な装置構成を採用しつつ、低荷重での押し当て制御を高速かつ高精度に実現できる構成が要望されている。【解決手段】対象物と移動部材との間の相対距離を変化させるとともに、移動部材から対象物へ与える荷重の大きさを制御する制御装置が提供される。制御装置は、予め定められた速度または位置についてのパターンに従って移動部材についての指令値を順次算出する第１制御手段と、予め定められた第１条件が成立すると、第１制御手段による指令値の算出に代わって、インピーダンス制御に対応する制御演算式に従って移動部材についての指令値を順次算出する第２制御手段とを含む。【選択図】図７