| 摘要 |
PURPOSE:To improve the positioning speed of a robot hand, etc. by increasing a command value at a high acceleration or speed, and to bring it close to a target value in a short time. CONSTITUTION:A command value generating circuit is constituted of the first and the second setting parts 1, 2, comparators 3, 6, a selecting circuit 4, an arithmetic circuit 5, a function generator 7, and a change-over switch 8. In this state, zero and also two kinds of large and small accelerations (a) and speeds (v) of positive are set in advance to the first and the second setting parts 1, 2, and first of all, a command value is increased by a large acceleration a2, and while a control deviation (e) exceeds a reference value (d), the command value is increased by switching said acceleration to a small acceleration a1. When this speed reaches to a large speed v2, the value is varied at a constant speed v2 by setting the acceleration to zero. Also, if the control deviation (e) exceeds the reference value (d), when the command value is being increased at the constant speed v2, the command value is increased by switching the speed to a small speed v1.
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