| 摘要 |
PURPOSE:To ensure the highly accurate control of a soft arm even though the disturbance is applied to the arm by applying the estimated value of the disturbance obtained by a state estimating means and given to a soft arm system to the signal of a detector of the soft arm system. CONSTITUTION:A soft arm system 10 consists of a soft arm 11, a load mass 12 attached at the tip of the arm 11, a driving motor 13 for arm 11 and a detector 14 which detects the angle of the motor 13. A state estimating means 1 estimates the state value of the system 10 and the disturbance value given to the system 10. Based on the estimated state value of the system 10, a control input is produced by the deviation with the target value 8 via a control device 7 using the state feedback. Then the estimated disturbance value 5 is subtracted from said control input and the disturbance 4 applied to the system 10 can be eliminated. Thus the positioning control, etc., are made possible with extremely high accuracy.
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