| 摘要 |
PURPOSE:To make a heavy load rotatively shiftable with light force without taking into account any dislocation of the center of gravity of a work by calculating weight of the work and added force with an arithmetic circuit, and constituting such one multiplying the value by a proper gain to be outputted to a rotary actuator as a speed command. CONSTITUTION:A speed command computing element 6 detects a vertical force with a vertical force detector 3a when it adds no force to a work, and stores a force signal Fy into a memory 7 as Fo. When adding force to the work, it inputs detected values Fy, Fx out of both vertical and horizontal force detectors 3a, 3b and a detected value theta out of an angle detector by way of an analog-to-digital converter 8. Then, Fy is compared with Fo by a first comparator 9, and both Sin and Cos components resolving the angle signal theta are multiplied by the vertical detection signal Fy-Fo and the horizontal detection signal Fx, thereby multiplying rotational operating force operated by a second comparator 10 by a proper gain Kx, and the value is converted by a digital-to- analog converter 11, thus it is outputted to a rotary actuator 4 as a speed signal v. |
