| 摘要 |
PROBLEM TO BE SOLVED: To solve the problem that in the conventional observer control operation device, it is necessary to operate load inertia, a state observer and a parameter of a state FB in real time in order to prevent deterioration of control performance coping with an attitude of a robot itself and a change in a load attached to an arm, and load of operation is drastically increased. SOLUTION: When performing the operation simultaneously for a plurality of state observers having parameters previously adjusted corresponding to a plurality of loads attached to the arm and the state FB, and adjusting additional quantity to a motor current command of each state FB value based on information of the loads attached to the arm, by multiplying by an attitude gain defined as a linear function of a duplicate ratio relative to a maximum value of a rotating radius of the arm in each attitude, it is not necessary to operate the load inertia, state observer and parameter of the state FB in real time so that the operation time can be reduced in a state of attaining a satisfactory vibration restraining effect. COPYRIGHT: (C)2009,JPO&INPIT
|
