| 摘要 |
PROBLEM TO BE SOLVED: To carry out the direct teaching work with a favorable control property by restraining the inertia moment around a joint to the minimum reducing the operation force of a teacher without using an expensive sensor and special device. SOLUTION: This is provided with third state feedback control means 13, 15 for making the position limit value giving a width to the negative side for the position order to a first state feedback control means 11 to the order value of a servo system, a first adjuster 18a for adjusting the output of second state feedback control means 12, 14 in response to a position deviation, a second adjuster 18b for adjusting the output of the third state feedback control means in response to the position deviation, a means 19 for adding the output value of the first adjuster and the output value of the second adjuster to the torque control part or the speed control part of the first state feedback control means, a means 16 for obtaining a position order correction value in response to the output value of the first adjuster and the output value or state of the second adjuster and a means 17 for obtaining the order value from the position order correction value to the first state feedback control means.
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