| 摘要 |
PURPOSE:To realize the stable follow-up of posture by holding the present position command value in case the absolute value of the position deviation is larger than the indent width and in case the present position command value is larger or smaller than the target value of the posture control against the increase or the decrease of the position command value under the specific conditions. CONSTITUTION:When the absolute value of the position deviation is larger than the indent width set by an indent width setting part 10 and when the present position command value is larger and smaller than the target value of posture control against the decision of the increase and decrease directions of the position command value, the present position command value is maintained. Then the position command value obtained from a cushion control processing part 11 is used for servo gain processing in place of said posture control target value. The position command value increases or decrees in steps and approximately every indent value and reaches substantially the posture control target value. Thus, the stable posture follow-up is attained.
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