| 摘要 |
PURPOSE:To improve the accuracy of a manipulator controller in a low-speed area of a start-stop mode by omitting the nonlinear compensating operation of a speed term and carrying out an arithmetic operation in a short control cycle in case the working speed of a manipulator is low. CONSTITUTION:A manipulator controller contains a microcomputer 10 together with functions of a feedback control means, a nonlinear compensating means and an arithmetic/cycle changing means respectively. The operating amount T delivered from the computer 10 is converted into analog signals by a D/A converter 12 and supplied to a servo amplifier 14 for control of an arm driving servomotor 16. The arithmetic/cycle changing means functions when the manipulator speed is lower than a set level. Then the speed input of the manipulator is regarded as zero against the nonlinear compensating means and the compensating operation is simplified. Thus the control cycle is shortened and therefore the limited arithmetic capacity is utilized properly in response to the speed of the manipulator. This improves the control accuracy in both high-speed and low-speed areas.
|
