| 摘要 |
PURPOSE:To perform the control stable at all times and of good responsiveness in a robot containing a force control, by composing it so as to adjust and change optimally the control gain to decide the stability of a control system according to the variation of an environmental rigidity. CONSTITUTION:A starting signal generating means 52 to start the arithmetic motion of a gain adjusting arithmetic means 51 is output. The output signal of a force detection means 8 and that of a position detection means 4 are then input to this gain adjusting arithmetic means 51 and also a signal for changing a force aiming value and control gain is output respectively to a force aiming value setting means 53 and force control arithmetic means 17, and at least two kinds of force controls are performed by changing the force aiming value. In the meantime the environmental rigidity of a robot mechanism system is measured by using the output values of the force detection means 8 and position detection means 4, the optimum control gain value is calculated based on this environmental rigidity and the control gain of the force control arithmetic part 17 is changed to the optimum value. |
