| 摘要 |
PROBLEM TO BE SOLVED: To improve motion accuracy using simpler processing, without having to carry out extra reverse mechanism conversion. SOLUTION: A control unit 10 stores a geometric error inside each of first and/or second universal joints in a geometric error storage 13; and when an actuator having the geometric error is controlled, the control unit 10 converts the geometric error to a strut length error in a strut length error calculating section 15. In a strut length updating section 16, the strut length obtained by the strut length calculation section 14 is updated based on the strut length error; and based on the updated strut length, a command value conversion section 17 converts the obtained strut length into a command value of the actuator and outputs it. COPYRIGHT: (C)2008,JPO&INPIT
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