Patent ID: 8700215
Filing Date: 2014-04-15
Classification: B25J,F15B

Abstract:
1. A control apparatus for an elastic body actuator comprising: a processor; an inner-state measuring unit that measures an inner state of the elastic body actuator; an output measuring unit that measures an output of the elastic body actuator; an output error compensation unit to which a desired value of the output of the elastic body actuator and a measured value of the output of the elastic body actuator measured by the output measuring unit are inputted so as to compensate for an output error; a desired inner-state determination unit that determines a desired value of the inner state of the elastic body actuator based on the desired value of the output of the elastic body actuator; an adjustable desired inner-state correction unit that, when an error occurs between the desired value of the output of the elastic body actuator and the measured value of the output of the elastic body actuator, determines, using the processor, a desired correcting value of the inner state so as to make the error smaller, wherein the adjustable desired inner-state correction unit calculates an adjusted offset value obtained by integrating a value obtained by multiplying a value prepared by subtracting an output value from the desired value of the output by a gain, and an adjusted gain value obtained by integrating a value obtained by multiplying a value obtained by multiplying a value prepared by subtracting an initial value from the desired value of the output by a value prepared by subtracting the output value from the desired value of the output, by a gain, so that a value obtained by adding a value prepared by multiplying the adjusted gain value by the desired value of the output to the adjusted offset value is set as the desired correcting value of the inner state; and an inner-state error compensation unit that calculates an inner-state error correction based on the desired value for the inner state outputted from the desired inner-state determination unit, the desired correcting value for the inner state outputted from the adjustable desired inner-state correction unit, and an output from the inner-state measuring unit, and outputs the calculated inner-state error correction to the elastic body actuator to compensate for an inner-state error by controlling the measured value of the output of the elastic body actuator to be set to the desired value of the output.