| 摘要 |
PROBLEM TO BE SOLVED: To control the driving of a plurality of actuators synchronously and cooperatively in conformance with a load change in the external environment. SOLUTION: According to a sudden change in external force acting on a joint actuator, a servo parameter together with a control command value is supplied thereto on a real-time basis to change the characteristics of the actuator properly. For an indefinite change in the load from the external environment, a low-speed movement command and a servo parameter offering a slow response time are supplied to provide actuator driving control depending upon the magnitude of the load under the external environment rather than the control command value.
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