| 摘要 |
PROBLEM TO BE SOLVED: To provide a robot controller capable of realizing high flexibility by taking into account a control system and a machine vibration system as a torque limiting value. SOLUTION: This robot controller has a first position speed controlling means for receiving a position command value and outputting a feedforward position command, a feedforward speed command and a feedforward torque command, a second position speed controlling means for receiving the feedforward position command and the feedforward speed command and outputting a variation torque command, a torque limiting means for limiting the variation torque command and outputting a limiting torque, and a torque adding means for adding the limiting torque to the feedforward torque command. COPYRIGHT: (C)2003,JPO
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