INDUSTRIAL ROBOT

摘要

PURPOSE:To actuate an industrial robot at a high speed and with high accuracy by measuring the weight of a working subject and perform the feedforward compensation of the control system gain and the interference torque component to the weight of the working subject. CONSTITUTION:The current flowing to a linear motor part is measured by a drive current detector 43 for linear motor part. A weight detector 41 calculates the weight of a working subject according to said measured value of the current. The increase of the weight of the working subject causes the increase of the moment of inertia. Therefore a compensation computing element 42 controls the gain of an amplifier 39 in order to obtain the optimum control characteristics. While the locus of the arm tip is deteriorated by the effect of the mutual interference between arms. In order to this adverse influence, the interference torque is obtained from the weight of the working subject by the computing element 42 and the feedforward compensation is given to the current value given to a motor 36. Thus the high locus accuracy is obtained regardless of the weight variation of the working subject.