| 摘要 |
PROBLEM TO BE SOLVED: To provide a robot driving controller which suppresses abrupt variation of current, when an actuator is started or stopped, by performing current control based upon an ideal current for placing a movable position of a robot in desired operation as a control target, and which can be manufactured at low cost. SOLUTION: The robot driving controller 1 comprises a potentiometer 2 which detects position information on a movable part, a current sensor 3 which detects the actual current flowing to a stepping motor 7, an ideal current determination part 4 which determines the ideal current for making the movable part to operate as desired, a hold torque determination part 5 which determines hold torque needed to make the movable part stationary, and a motor current control part 6 which corrects the actual current according to the hold torque and ideal current and determines a motor command value for making the movable part move to an operation target position as desired. |
