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1.发明公开ATTITUDE CONTROL DATA CREATING METHOD, AND ATTITUDE CONTROL DEVICE APPLYING THE METHOD 有权程序对产生位置控制数据和程序赋予装置进行位置控制
公开(公告)号：EP2022718A1
公开(公告)日：2009-02-11
申请号：EP07743244.1
申请日：2007-05-02
摘要： In order to control an attitude of a movable object having a flexible member (50) through an attitude maneuver, first, based on vibration of the flexible member at the time of the attitude maneuver, for example, a sampling function including no frequency components equal to or higher than a particular frequency is obtained. With the use of the sampling function, a control target value is created as a previously-frequency-shaping-type feedforward control law. Based on the control target value, attitude control data is created. The attitude control data can be used for the attitude maneuver with respect to the movable object.
摘要翻译： 为了控制通过姿态机动具有柔性部件（50）的可移动对象的姿势时，首先，基于所述柔性构件的振动在姿态机动的时间，例如，采样函数不包括频率分量等于 或高于一特定频率被获得。 通过使用采样函数的，一个控制目标值作为先前频率整形型前馈控制规则创建的。 基于控制目标值，创建姿态控制数据。 姿态控制数据可被用于姿态机动相对于所述可移动物体。
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2.发明授权ATTITUDE CONTROL DATA CREATING METHOD, AND ATTITUDE CONTROL DEVICE APPLYING THE METHOD 有权程序对产生位置控制数据和程序赋予装置进行位置控制
公开(公告)号：EP2022718B1
公开(公告)日：2012-01-11
申请号：EP07743244.1
申请日：2007-05-02
摘要： In order to control the attitude of a movable object having a soft substance (50) by a attitude maneuver, a sampling function not having a frequency component of a specific frequency or higher is acquired on the basis of the vibrations of the soft substance, for example, at the attitude maneuvering time. By using this sampling function, a control target quantity is created as a previous frequency forming type feed forward control rule. On the basis of this control target quantity, attitude control data is created. This attitude control data can be utilized for the attitude maneuver of the movable object.
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