| 摘要 |
PROBLEM TO BE SOLVED: To obtain a force controller for smoothly switching a position control to a torque control. SOLUTION: The force controller comprises a force commanding unit 2 for generating a force command to a motor 5, a position detector 21 for detecting a rotary angle of the motor 5, a speed detector 8 for detecting a rotational speed of the motor 3, a force detector 11 for detecting a force of a pressing unit 103, a speed command generator 207 for generating a speed command based on the rotary angle detected value of the detector 21, a subtracter 203 for obtaining a difference of the force command value and the detected value of the detector 121, a limiter 220 for outputting a prescribed value based on the input value from the subtracter 203 and altering an upper limit value or a lower limit value of the output based on the output of the generator 207 and the detected value of the detector 21, a subtracter 222 for obtaining a difference between the output value of the limiter 220 and the detected value of the detector 8, and a power amplifier 224 for driving the motor 5 based on the output of the subtracter 222. |
