| 摘要 |
PROBLEM TO BE SOLVED: To make it possible to reduce a burden to a host controller and create real torque by generating spring torque and viscosity torque inside a torque controller and outputting it after adding it to a torque command from the host controller. SOLUTION: When a motor 5 is rotated, a position detected by encoder 4 is amplified by a multiplier 13 and is fed back as spring torque to a subtractor 17. On the other hand, a speed detected by a speed detector 12 is amplified by a multiplier 14 and is fed back to a subtractor 17 as viscosity torque. The motor 5 is driven by an external torque command or by adding spring torque and viscosity torque to the external torque command by the subtractor 17. By doing this, burden of the host controlled can be reduced and a real torque can be created. |
