| 摘要 |
PROBLEM TO BE SOLVED: To control the motion and angle of a joint with high reliability and high accuracy by estimating the fluctuation of a dynamic characteristic with high accuracy. SOLUTION: The control gains of the second and the third PID controllers 13 and 15 for applying torque to the second and the third joints of a manipulator, as well as the control gain of a PID controller 17 for applying torque to a space navigation body, are evaluated by means of fuzzy inference based on a manipulator joint angleθ3, so as to be set to an optimum value. In addition, the operation of respective joints is controlled, according to the control gains preliminarily established, when the adaptability of the gain adjusting fuzzy rule to the value reduces or the result of the inference is unsuitable.
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