| 摘要 |
The present invention refers to a device for controlling a type of completely actuated mechanisms having position sensors, which includes an observer circuit, a low-pass filter, a control circuit and selectors. The purpose of the invention is to achieve a great performance in the control system in a close circuit formed by the control device and a mechanism despite of not having an exact dynamic model of the mechanism and the speed measurements in each of the joints thereof. The aforementioned purpose is achieved by the observer circuit which may asses the speed in each joint and, along with a circuit acting as a low-pass filter, asses the unknown terms in the mechanism model. The unknown term assessment is incorporated to a control circuit for the compensation thereof.
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