公开(公告)号：US09545718B2

公开(公告)日：2017-01-17

申请号：US14237927

申请日：2012-08-08

申请人： Francois Pierrot ,  Ahmed Chemori ,  Micaël Michelin

发明人： Francois Pierrot ,  Ahmed Chemori ,  Micaël Michelin

IPC分类号： G05B19/04 ,  G05B19/18 ,  B25J9/16

CPC分类号： B25J9/1623

摘要： A method of controlling a machine with redundant parallel actuation includes a frame and a mobile element driven by a plurality of mechanical transmissions parallel to one another and each being activated by an actuator (2) including a body fixed to the frame, an actuating member and a position sensor, in which an error signal is produced by comparing the position of each actuator with a setpoint signal, characterized in that the error signals are converted into a mobile element position error signal by applying data representative of the kinematics of the mechanical transmissions, the mobile element error signal is processed by a processing module which produces an effort signal to be applied to the mobile element, the effort signal is converted into signals controlling the actuators by applying data representative of the kinematics of the mechanical transmissions.

摘要翻译： 控制具有冗余平行致动的机器的方法包括由彼此平行的多个机械传动装置驱动的框架和移动元件，并且每个由包括固定到框架的主体的致动器（2）启动，致动构件和 位置传感器，其中通过将每个致动器的位置与设定点信号进行比较而产生误差信号，其特征在于，通过应用表示机械传动的运动学的数据将误差信号转换成移动元件位置误差信号， 移动元件误差信号由产生要施加到移动元件的努力信号的处理模块处理，努力信号通过应用表示机械传动的运动学的数据被转换成控制致动器的信号。