| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide a manipulator for continuously changing stiffness of a drive portion during operation, and to provide a control device of the manipulator. <P>SOLUTION: A tip position and a posture of the manipulator 9 are calculated by a position and posture calculation unit 29 from output signals of triaxial angle detectors 27a, 27b, 27c. The calculated result is used to calculate a torque acting on each drive portion by an action force calculation unit 30. A stator pressing force calculation unit 31 calculates a stator pressing force required for ensuring a drive torque. An electromagnetic force calculation unit 32 converts the stator pressing force obtained by the stator pressing force calculation unit 31 to an electromagnetic force generated by electromagnets 20a, 20b, and applies a voltage to the electromagnets 20a, 20b. In the meantime, a control amount calculation unit 34 calculates a control amount of a spherical surface ultrasonic motor of the each drive portion by position and posture data calculated by the position posture calculation unit 29 and position and posture data at the tip of the manipulator 9 inputted by a command value input unit 28, and supplies it to the motor. <P>COPYRIGHT: (C)2011,JPO&INPIT |
