| 摘要 |
PURPOSE:To eliminate a need of a memory for storage of a long numerical formula and apply a feedforward controller to a machine having a closed link mechanism by adopting numerical operations based on energy calculation independently of numerical formulas. CONSTITUTION:A position command value 2 and a speed command value 13 are inputted to a motion energy calculating part 8 to obtain a motion energy K=1/2mu<2>, and the position command value 2 is inputted to a position energy calculating part 9 to obtain a position energy P=mgh. Values DELTA/DELTAt(DELTAL/DELTAu) and DELTAL/DELTAx are obtained in a numerical differential calculating part 11 in accordance with the value obtained by subtracting the position energy P from the motion energy K, namely, a Lagrandian L10, the position command value 2, and the speed command value 13, and a feedforward force DELTA/DELTAt(DELTAL/DELTAu)-DELTAL/DELTAx is obtained by a feedforward calculating part.
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