| 摘要 |
PROBLEM TO BE SOLVED: To utilize the ability of a driving source at the maximum by setting a temporary position, and judging whether the driving torque to be required for operating a joint at the temporary position exceeds a limit value or not, and in case of YES, correcting the command position of the joint so as to prevent the excess. SOLUTION: In the case where the temporary joint driving torque for joint exceeds a limit value, a CPU computes the speed ratio R. The CPU substitutes the corrected velocityθj ' of a (j)-th joint and corrected angular accelerationθj ', of the (j)-th joint of formulas I, II for velocity and angular acceleration of the (j)-th joint of a formula III so as to obtain the speed ratio R capable of preventing the excess of the driving torque over the limit valueτimax.θjpr means velocity of the (j)-th joint before sampling, andΔT means interval of sampling, andj means angle of the (j)-th joint, andτi means the (j)-th joint driving torque. ST time as the ordinary addition time variable is multiplied by the ratio R so as to set a new addition time variable.
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