| 摘要 |
PROBLEM TO BE SOLVED: To make a controller able to operate a parallel mechanism with high accuracy and also high acceleration and deceleration within a range where machine stiffness is high and to make smoothly operable without generating vibrations within a range where the machine stiffness is low by setting an appropriate driving device control parameter in accordance with the machine stiffness according to an operation position. SOLUTION: This controller primarily comprises a program interpreting part 1, a coordinates converting part 2, a driving device controlling part 3 provided corresponding to each leg and a parameter selecting part 4 for driving as a parameter setting means. The part 4 is provided with a parameter setting table preliminarily set in accordance with the length of each leg, detects the lowest state of machine stiffness in operation within a prescribed period from the length command value of each leg inputted from the part 2 and the current leg length, selects a driving device control parameter from the parameter setting table responding to the state in which the machine stiffness is the lowest and outputs the driving device control parameter to driving device controlling parts 3a to 3c.
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