| 摘要 |
PROBLEM TO BE SOLVED: To provide an assistant arm provided with a power assist, capable of conveying a workpiece in the direction in which an operator tends to move it. SOLUTION: A speed command V is calculated by multiplying detected operating force F by a gain K (S1, S2). Next, speed commandsθof motors for each shaft are calculated by multiplying the speed command V by the Jacobian matrix (S3). Whether the calculated speed commandsθ1,θ2,... exceed the maximum speedsθ1max,θ2max,... set to respective motors or not is judged. If the speeds of all motors do not exceed respective maximum speeds, the motors are rotated by the speed commandsθ(S4-S6). While, if the speeds of any one of motors exceeds the maximum speeds, a new gain is found by multiplying the Jacobian matrix Jsin<-1> (θ) by the speed command V and the dividing the speed commandθby the calculated result, and the speeds of the other motors are decreased while the speeds of the motor exceeding the maximum speed is kept to the maximum speed (S7-S9).
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