| 摘要 |
PURPOSE:To enhance the cycle time of a robot by feeding both the rotary angular speed signal of an arm and the torsional angular acceleration signal between the arm and the rotary shaft of a motor back to a current command. CONSTITUTION:The positional difference between the positional signals of a positional command thetar and a motor 14 is multiplied by a positional loop gain 11 to produce a speed command which is delivered to a speed loop. The speed loop serves as a PI controller comprising a speed loop gain 12 and an integrator 13 for determining a current command and constitutes a current loop for feeding a current to the motor 14. The torsional angle thetas between the rotational angles of the motor 14 and the arm is multiplied by a spring constant 15 and transmitted, as an arm driving torque, to the arm in order to determine the rotational angular speed omegaL and rotational angle thetaL of the arm. The rotational angular speed omegaL of the arm is fed back negatively to the current command and the torsional angular acceleration (second order derivative of the torsional angle thetas) is fed back positively. |
