US 9,808,932 B2
Linking apparatus control device
Yukihiro Nishio, Iwata (JP); Hiroshi Isobe, Iwata (JP); and Hiroyuki Yamada, Iwata (JP)
Assigned to NTN CORPORATION, Osaka (JP)
Filed by Yukihiro Nishio, Iwata (JP); Hiroshi Isobe, Iwata (JP); and Hiroyuki Yamada, Iwata (JP)
Filed on Sep. 24, 2015, as Appl. No. 14/864,412.
Application 14/864,412 is a continuation of application No. PCT/JP2014/057191, filed on Mar. 17, 2014.
Claims priority of application No. 2013-063948 (JP), filed on Mar. 26, 2013; and application No. 2013-156546 (JP), filed on Jul. 29, 2013.
Prior Publication US 2016/0008977 A1, Jan. 14, 2016
Int. Cl. G05B 15/00 (2006.01); G05B 19/00 (2006.01); B25J 9/16 (2006.01); B25J 9/00 (2006.01); B25J 9/06 (2006.01); G05B 19/4103 (2006.01)
CPC B25J 9/1607 (2013.01) [B25J 9/0048 (2013.01); B25J 9/06 (2013.01); B25J 9/1605 (2013.01); B25J 9/1623 (2013.01); B25J 9/1664 (2013.01); G05B 19/4103 (2013.01); G05B 2219/39052 (2013.01); G05B 2219/39219 (2013.01); G05B 2219/39403 (2013.01); G05B 2219/40267 (2013.01); G05B 2219/40436 (2013.01); Y10S 901/02 (2013.01)] 18 Claims
OG exemplary drawing
 
1. A control device for a link actuator to control each of actuators of the link actuator in such a manner as to change position of a distal end side link hub relative to a proximal end side link hub from a starting point position towards a terminating point position which is commanded, in which the link actuator includes
three or more link mechanisms that connect the distal end side link hub to the proximal end side link hub in a position-changeable fashion,
each link mechanisms including a proximal side end link member, one end of the proximal side end link member being pivotably connected to the proximal end side link hub; a distal side end link member, one end of the distal side end link member being pivotably connected to the distal end side link hub; and an intermediate link member with its opposite ends pivotably connected to the other ends of the proximal side end link member and the distal side end link member, respectively,
each of the link mechanisms having such a shape that a geometric model of the link mechanism represented by lines shows symmetry between a proximal end side portion thereof and a distal end side portion thereof with respect to a center portion of the intermediate link member, and
each link mechanisms being provided with the actuator that arbitrarily changes position of the distal end side link hub relative to the proximal end side link hub by rotating the proximal side end link member in the form of the arm,
the control device comprising:
a position change control unit to drive each of the actuators in synchronism with each other on a point-to-point basis from a starting point, which is the rotational angle of the arm when the starting point position is assumed, to a terminating point which is the rotational angle when the terminating point position is assumed;
a relay position setting unit configured to compare a position changing amount of the distal end side link hub in the position change from the starting point position to the terminating point position with a predetermined amount, and configured to, in the event that the position changing amount of the distal end side link hub is larger than the predetermined amount, set one or more relay position according to a predetermined rule during the course of an position changing path for changing from the starting point position to the terminating point position and to set by determining a rotational angle which corresponds to a relay point of the rotational path of each of the arms when the relay position is assumed,
wherein the position change control unit performs a position control so that each of the arms simultaneously passes through the relay point set by the relay position change setting unit.