| 摘要 |
PROBLEM TO BE SOLVED: To lighten load to a host controller while freely generating delicate vibratory torque, by generating spring torque, viscous torque and vibratory torque in a torque controller and adding these torque to a torque command value from the host controller. SOLUTION: The rotary place of a motor 1 detected by an encoder 2 is amplified by a first multiplier 5 and fed back to a subtracter 7 as spring torque, and the speed of the motor 1 detected by a speed detector 4 is amplified by a second multiplier 6 and fed back to the subtracter 7 as viscous torque. Spring torque and viscous torque are subtracted from an external-torque command value by the subtracter 7, and used as a first torque command value. The set values of a frequency setting section 9 and an amplitude setting section 10 for a host computer are multiplied by a vibratory-torque generating section 8, and a vibratory-torque command is generated, and added to the first torque command value generated from spring torque, viscous torque and the external- torque command value by an adder 11. |
