| 摘要 |
PROBLEM TO BE SOLVED: To simply determine a constant necessary for estimative calculation from frequency characteristics by determining an estimative constant from a preset transfer function, and calculating an estimative angle and an estimative angular speed of the driving part of a robot in use of this estimative constant, based on a command torque and angle of a servomotor. SOLUTION: In an estimative constant determining part 60, a constant necessary for estimative operation in the driving part of a robot 2, namely, those of arm's inertia Ja , arm's viscous friction Da , spring constant K, servomotor's inertial Jm and servomotor's viscous friction Dm are calculated from a transfer function of the robot 2. Next, in a torsional angle/disturbance estimative observer 7 performing an estimation included with disturbance, an angle and an angular speed of an arm of the robot 2 as well as the angular speed and disturbance torque of the servomotor are estimated on the basis of the command torqueτand a detected angleθm of the servomotor, predicated on a state equation of the robot in use of the obtained constant, and from the results so far achieved, the command torqueτis calculated by a control part 9.
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