| 摘要 |
PURPOSE:To improve the positioning accuracy and reliability of the titled controller by discriminating whether the operation of a robot is positioning operation or low speed operation by the existence of a positioning preview signal and changing functions. CONSTITUTION:The controller is constituted of a target locus arithmetic means 1, a position command generating means 2, a position feedback detecting means 3, a speed feedback detecting means 10, a position control means 7, a speed control means 9, a current control means 11, etc., and a speed command generating function switching means 8 for switching a speed command generating function in a control means 7 based on the existence of a preview signal control means 7 based on the existence of a preview signal outputted from a preview signal generating means 6 is also connected. The switching means 8 is switched so that a large gain value is multiplied when a positional deviation is small at time of stopping the positioning operation and a small gain value is multiplied when the positional deviation is small at the time of low speed driving. Consequently, servo rigidity and positioning accuracy can be improved.
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