| 摘要 |
<P>PROBLEM TO BE SOLVED: To obtain an elastic speed with high stability and quick response when a member is driven by a drive source through an elastic member. <P>SOLUTION: A drive source speed Vd which is a speed at an input-side end 5 of a drive source 2 to input power to an elastic member 4 is acquired, an elastic deformation amount Pe of the elastic member is acquired as a quantized value, and a variation rate of the elastic deformation amount Pe is computed as an approximate variation rate Ve which is a value obtained by leveling abrupt change in value based on quantization on the basis of values of a plurality of elastic deformation amounts Pe acquired at different points of time. On the basis of the drive source speed Vd and approximate variation rate Ve, a deformation speed V of the elastic member is computed from V=A (-Vd)+B Ve, where a coefficient A is regarded as a coefficient which is larger as a frequency of temporal change in position of the input-side end is higher and a coefficient B is regarded as a coefficient which is larger as the frequency of temporal change in position of the input-side end is lower. <P>COPYRIGHT: (C)2013,JPO&INPIT |
