| 摘要 |
PURPOSE:To obtain a motor position controller which can control a robot with high locus accuracy by changing the compensating element gain of a servo system according to the change of the moment of inertia, etc. CONSTITUTION:The output (u) of a speed controller 11 is supplied to a controlled system 10 and the speed is set at (v). Thus the momentary values (u) and (v) are supplied to an estimator 12 for estimation of the parameter (moment of inertia) of the controlled system 10. Based on this result of estimation, the controller 11 changes its coefficient (gain). While a position controller 31 calculates the value which is newly supplied to the controller 11 from the value supplied to the controller 11 and the target position value. Thus it is possible to cope with the change of the moment of inertia due to the change of posture of a robot arm and the change of disturbance torque of the centrifugal force, etc. Then the high locus accuracy is secured.
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