Kabushiki Kaisha Yaskawa Denki

Yuko Ikeda

Hideo Nagata

Nobuhiro Umeda

Dai Fukuda

Yoshie Nakanishi

Eri Yamanaka

Yoshie Murayama

Akira Yoshida

A controller for a motion assisting apparatus for a wearer includes circuitry. The circuitry is configured to set switching points in a change in a turning angle of a drive mechanism driven by a drive motor and attached to an ankle joint of the wearer to assist a turning motion of the ankle joint, a ratio of the change in the turning angle being equal to zero at the switching points. The circuitry is configured to set a motion pattern such that the turning angle monotonically increases or monotonically decreases between the switching points. The circuitry is configured to control the drive motor to change the turning angle according to the motion pattern.

Controller for motion assisting apparatus, motion assisting apparatus, method for controlling motion assisting apparatus, and recording medium

There are provided a motor control device and a method for deciding a velocity instruction shape within the limit of a movement range, a velocity, and an acceleration of an object device while maintaining the acceleration as high as possible in inertia identification. The motor control device includes a position control unit for generating a velocity instruction based on a position instruction and a motor position, a velocity control unit for generating a torque instruction based on the velocity instruction and a motor velocity, and a motor drive unit for generating motor current from the torque instruction. The motor control device further includes a model control unit for generating a model torque instruction based on the velocity instruction and a model velocity, an inertia identification unit for identifying an inertia from a predetermined positional instruction according to a ratio of the motor torque instruction integrated value obtained by temporal integration of the torque instruction of the motor at a predetermined section and the model torque instruction integrated value obtained by temporal integration of the model torque instruction at a predetermined section, and an instruction shape generation unit for automatically generating an instruction shape upon identification according to the conditions of the maximum movable distance, the permitted velocity, the permitted acceleration, and the maximum operation time of the object machine.

Motor control device, method and program storage medium

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Kitakyushu, Japan

Yuko Ikeda