| 摘要 |
<p>PROBLEM TO BE SOLVED: To provide a controller capable of reducing a settling time by automatically changing a control condition in condition that a movement amount in time of a link attitude change is small and that a setting speed is fast.SOLUTION: A controller 1 changes an attitude of a link hub 15 on the tip side by driving respective arms 11a etc. of a plurality of link mechanisms 11-13 by actuators 3. The controller 1 includes attitude change control means 41 for synchronously driving the respective arms 11a etc. by linear acceleration/deceleration control by instruction arm rotation angles. Acceleration times and deceleration times of control parameters are set to be one period of a resonance frequency of a link operation device 1. The controller 1 is provided with operation time estimation means 49 for estimating an operation time from the acceleration times, the deceleration times, instruction speeds, and the instruction arm rotation angles of the actuators 3. The controller 1 is provided with condition selection means 50 for comparing the estimated operation time and a total of the acceleration times and the deceleration times. The controller 1 is provided with parameter change means 51 for changing the control parameters according to a result of the comparison.</p> |
