| 摘要 |
PROBLEM TO BE SOLVED: To provide a force control device having a position control device capable of increasing the positional follow-up performance even when positional instructions change frequently and sharply while preventing discontinuous movement even at torque saturation.SOLUTION: Defining a point of time in a discrete time system as k, the position control device used in a force control device 5 calculates a torque command value τ(k) at the time k to satisfy a formula: τ(k)=Fsat[τ(k)/F]; where F is a permitted maximum force of a motor, which is calculated by τ(k)=τ(k)+C&sgr;(k)+Ca(k-1)-Ca(k-2)+Ca(k-3); and τ(k) is a torque value estimated as necessary to achieve an acceleration nablap(k)/T, which is calculated based on a previously identified movement mechanism and a dynamic characteristic of a drive unit. |
