| 摘要 |
PROBLEM TO BE SOLVED: To provide a torque control device whereby a load of a host controller is reduced, by freely changing the original position of action, real body sensing torque can be generated. SOLUTION: When a motor 5 is rotated, a position detected by an encoder 4 is amplified by a multiplier 13, to be fed back to a subtracter 17 as spring torque. On the other hand, a speed detected by a speed detector 12 is amplified by a multiplier 14, to be fed back to the subtracter 17 as viscous torque. The fed back spring torque and viscous torque are subtracted by the subtracter 17, to generate an integrated torque command, so that torque is generated. Also in the case of rotating the motor 5 by external force, the spring torque and viscous torque are fed back, and similarly torque is generated. By changing a gain of gain setting parts 15, 16 by on-line, adjustment of the spring torque and viscous torque is performed. |
