| 摘要 |
<P>PROBLEM TO BE SOLVED: To achieve control based on effective torque in actual machine operation. <P>SOLUTION: An arm 12 is operated by a motor 11, which is driven by driving power from an amplifier 13. Operation of the motor 11 is detected by an encoder 14 to be fed back to a controller 15. The controller 15 is provided with an effective torque monitoring device 16. The controller 15 carries out control computation such as PID control based on a motor angle detected by the encoder (an angle detection means) 14 and a motor target angle calculated inside the controller 15 (or given to the controller 15 from the outside) to calculate torque necessary for driving the motor. The calculation of the torque is controlled by the effective torque monitoring device 16. The calculated necessary torque is inputted as a torque instruction to the amplifier 13. The amplifier 13 drives the motor 11 to generate torque according to the torque instruction. <P>COPYRIGHT: (C)2008,JPO&INPIT |
