| 摘要 |
<p>A manipulator device is provided with a state-detection unit for sequentially detecting a vibrating state of a tip-arm part and/or a load state of the tip-arm part, and generating a detection signal expressing the vibrating state and/or the load state of the tip-arm part. The manipulator device is further provided with a servo-gain adjustment unit for adjusting the servo gain of a drive current in response to a drive command in a servo control unit, on the basis of the detection signal generated by the state-detection unit, and by adjusting the servo gain, also changing frequency properties in relation to the vibrations of the tip-arm part in real time, according to the vibrating state or the load state of the tip-arm part.</p> |
