| 摘要 |
A controller for a machine such as a robot and a machine tool having an electric motor as a driving source of the machine, capable of suppressing a natural vibration of the machine and/or an attachment attached to the machine. A frequency or a cycle of the natural vibration of an end effector of the robot as the attachment or the machine itself is determined and a coefficient of a filter for suppressing an amplitude of the natural vibration is altered in accordance with the measured frequency or cycle of the natural vibration. In the case of suppressing a natural vibration of the end effector attached to the robot, frequencies or cycles of natural vibrations of various end effectors in accordance with an operation status of the end effector are determined and stored, and the coefficient of the filter is set in accordance with the stored frequency or cycle of the natural vibration in accordance with the end effector attached to the robot and the operation status. In the case of suppressing a natural vibration of the machine, the natural frequency of the machine is always detected and the coefficient of the filter is automatically altered in accordance with the detected natural frequency, to thereby suppressing an amplitude of the natural vibration of the machine having the natural frequency varying due to variation of load and aging of the machine.
|
