| 摘要 |
PCT No. PCT/JP94/00547 Sec. 371 Date Dec. 1, 1994 Sec. 102(e) Date Dec. 1, 1994 PCT Filed Apr. 1, 1994 PCT Pub. No. WO94/24621 PCT Pub. Date Oct. 27, 1994A disturbance estimation observer estimates a disturbance load torque applied to a motor. The estimated disturbance load torque is fed back so that the feedback control is carried out by making the torque corresponds to a commanded force value which is a target value. According to the feedback control, the estimated disturbance load torque is controlled to correspond to the target value, and when the estimated disturbance load torque approximates to an actual load torque, the actual load torque is controlled to the target value. Thus, force control by the motor can readily be carried out on the basis of the disturbance load estimated without using force sensors.
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