| 摘要 |
PROBLEM TO BE SOLVED: To realize the high precision control of working forces in the case where eccentric working is performed using a plurality of working shafts. SOLUTION: Strain in a plurality of parts in a structural part 26 supporting a mechanism part 26 is detected by strain detectors 34L, 34R, and each linear function expression of the strain in a plurality of the parts is calculated. Thus, the forces 20L, 20R of a plurality of working shafts are calculated at high precision, respectively, the calculated values of the forces 20L, 20R of a plurality of the working shafts are fed-back, and power sources 12L, 12R respectively assigned to the forces 20L, 20R of a plurality of the working shafts are controlled. Provided that the detected value at the left prescribed part 30L in the mechanism part 26 is defined as fL, the detected value of the strain at the right prescribed part 30R is defined as fR, the calculated value of the force of the left working shaft is defined as FL, and the calculated value of the force of the right working shaft is defined as FR, the linear function expressions satisfy FL=(fL+fR)/2+(fL-fR)/2αand FR=(fL+fR)/2-(fL-fR)/2α. COPYRIGHT: (C)2008,JPO&INPIT
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