| 摘要 |
In cases where every sampling time has elapsed, a position of the joint which will occur at a moment of end of a next sampling time is calculated on the basis of a speed pattern. Calculation is made as to a drive torque designed to move the joint to the calculated position. In cases where the calculated drive torque exceeds a predetermined limit value, a speed change ratio designed to reduce the drive torque is calculated. In addition, calculation is made as to a corrected sampling time on the basis of the calculated speed change ratio. The corrected sampling time is shorter than a normal sampling time. In cases where the calculated drive torque does not exceed the predetermined limit value, the calculated position is set as a command position and the joint is controlled to move to the command position after a predetermined unit control time elapses. In cases where the calculated drive torque exceeds the predetermined limit value, a position of the joint is calculated again while the corrected sampling time is used as the next sampling time. Then, the calculated position is set as a command position and the joint is controlled to move to the command position after the predetermined unit control time elapses.
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