| 摘要 |
PROBLEM TO BE SOLVED: To solve the problem wherein in the conventional observer control operation device, it is necessary to operate load inertia, state observer and a parameter of state FB in real time for the purpose of coping with the attitude of a robot itself and a change in load attached to an arm to prevent deterioration of control performance, resulting in remarkably increasing the load of operation. SOLUTION: This control method includes a means for 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 the addition amount to a motor current command of each state FB value according to the information of the loads attached to the arm, whereby 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 the state of attaining a satisfactory vibration restraining effect. COPYRIGHT: (C)2006,JPO&NCIPI
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