| 摘要 |
PURPOSE:To reduce vibrations generated in the machine body of a robot by previously applying a fixed bias to an input to a comparator circuit outputting forward rotation and reverse rotation signals to a drive circuit. CONSTITUTION:When a command voltage Ei is applied to an input terminal 1, the signals of the forward and reverse rotation of a motor are acquired through a speed control circuit 2, a current control circuit 3 and a comparator circuit 4. The signals are transmitted over a control element such as a power transistor through a drive circuit 6 and a PWM power circuit 7. An output from a reference-voltage generating circuit 5 and an output from a fixed-bias generating circuit 38 are sent to the comparator circuit 4. When a fixed bias is transmitted at all times, the motor is supplied with prescribed forward- rotation and reverse-rotation motor currents continuously even when motor load is small and motor currents are small, thus generating torque in the motor, then reducing vibrations. |
