| 摘要 |
A controller for controlling a position of a driven element with respect to a machine effecting end so as to be in accord with a command. An acceleration sensor is mounted to a member of the machine effecting end to which a tool is attached. Acceleration detected by the sensor is subjected to second-order integration by a torsion estimator to obtain displacement Deltatheta of the machine effecting end from the original position. Position feedback P 1 of a driven element is subtracted from position command Pc to obtain first position deviation epsilon1. The displacement Deltatheta is added to the first position deviation epsilon 1 to obtain second position deviation epsilon 2 . The second position deviation epsilon 2 is subjected to learning control of a learning controller to obtain a correction value, which is added to the first position deviation epsilon 1 to obtain velocity command Vc. The second position deviation is the sum of the displacement epsilon 1 of the driven element from the commanded position and the displacement Deltatheta of the machine effecting end relative to the driven element, and thus signifies a positional displacement of the machine effecting end from the commanded position. The second position deviation is subjected to the learning control so as to converge to "0", whereby the position of the driven element with respect to the machine effecting end becomes in accord with the command.
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