ARTICULATED ROBOT CONTROLLER.

摘要

A processor (8) operates mutual interference torque value for each arm. A condition observer (2) reproduces condition variables from the torque instruction of the servo-motor and its real speed. The output of the condition observer is converted (4) into a corrected value of torque caused by disturbance to the servo-motor. A deviation signal of torque instruction in the servo motor is corrected (9) relying upon the corrected value thus converted and the above interference torque value.