Patent ID: 7953516
Filing Date: 2011-05-31
Classification: B25J,G05B

Abstract:
1. An actuator, comprising: a drive mechanism; a flexible element interposed between the drive mechanism and a load; and a controller which controls a force to be applied to the load through an intermediary of the flexible element by controlling motion of the drive mechanism, wherein the controller comprises a first processing element and a second processing element, the first processing element sets a desired driven velocity of the drive mechanism on the basis of a desired force to be applied to the load, an actual velocity of the load, actual positions of the drive mechanism and the load, and a flexibility coefficient indicative of a property of the flexible element, the second processing element sets a drive command velocity on the basis of a resultant desired velocity, which is a resultant velocity of a desired load velocity, which is the desired velocity of the load, and the desired driven velocity set by the first processing element, and the controller controls the drive velocity of the drive mechanism on the basis of the drive command velocity set by the second processing element.