| 摘要 |
PROBLEM TO BE SOLVED: To provide a control unit for debugging a program using a simulation, which enables a user to debug a program for controlling a mobile unit without coupling the controlled mobile unit to the control unit. SOLUTION: The control unit 1 for debugging the program using the simulation comprises a switch SW1 for switching a mode between a normal mode and a simulation mode, an arithmetic unit 12 for estimating a current position for the mobile unit, which substitutes the controlled object unit 2, and an arithmetic unit 13 for estimating a current torque value. The control unit 1 is connected with the arithmetic unit 12, which substitutes the controlled object unit 2, and the arithmetic unit 13 for estimating the current torque value via the switch SW 1 for switching the mode when the control unit 1 is under the simulation mode, wherein the unit 1 has a means for debugging a control program for the controlled object unit 2, which makes use of the simulation to obtain a current position signal S50 and a current torque value signal S51 from an estimated current position signal S60, which is calculated by the arithmetic unit 12 for estimating the current position, and an estimated current torque value signal S61, which is calculated by the arithmetic unit 13 for estimating the current torque value. COPYRIGHT: (C)2005,JPO&NCIPI
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