| 摘要 |
PROBLEM TO BE SOLVED: To give arbitrary compliance to a position control type driving unit and to eliminate unstable vibration to develop when brought into contact with a rigid body by providing a compliance model with a specific transfer function obtained by adding a specific number of zero points to the transfer function of a 1 degree-of-freedom vibration system. SOLUTION: A model output 337 is obtained by inputting a force sensor output 208 to a 1 degree-of-freedom vibration model 211a represented in the equation. In the equation, Kc is a gain constant of 1 degree-of-freedom vibration model,ζc an attenuation coefficient,ωc a natural angular frequency,γa differential element gain,λa proportional element gain, and (s) a Laplacian operator. Then the model output 337 is differentiated by a differentiator 331 having characteristicsγ.s (γ: differentiator gain, s: complex variable) and added to the model output 337 to obtain a phase recovery model output 336. Further, a force sensor output 208 is multiplied by a bypass gainλto obtain a bypass output 335, which is added to the phase recovery model output 336 to obtain a variation command 204b. |
