| 摘要 |
Motion control of a robot arm (106) is performed via a reducer (105) connected to a motor (103). A controller (101) thereof includes thrust control means (302) that generate a motor position command value based on an input thrust command value, and motor control means (303) that generate a current value based on the motor position command value. The motor control means (303) feed back a motor position detected by a motor encoder (104), and the thrust control means (302) feed back thrust detected by a thrust meter (107). The feedback from the motor control means (303) suppresses vibration phenomena at the reducer (105), and the feedback from the thrust control means (302) suppresses transmission error, thereby enabling motion control of the arm (106) with rapidity and precision. |
