| 摘要 |
PURPOSE:To prevent the vibrations of a robot with satisfactory responsiveness by eliminating the resonance frequency components contained in the speed and current feedback values through a filter. CONSTITUTION:A robot control circuit is provided with a position controller 1, a speed controller 2, a current controller 3, a motor 4, a speed detector 6 and a position detector 7. Furthermore a current signal processor 12 and a speed signal processor 15 are added for deletion of the resonance frequency components out of the feedback amounts of both the current and the speed. The input/output converters 13 and 16 and D/A converters 14 and 17 are added for both processors 12 and 15 respectively. Thus it is possible to delete the harmful component of the resonance frequency component in response to the variation of this frequency component by measuring previously the variation of said frequency component according to the revolving speed of a motor 4 and the posture of a robot. In such a way, a satisfactory robot servo system is always secured. |
