| 摘要 |
PURPOSE:To control a hand smoothly and autonomously by turning off a state feedback up to the vicinity of a subject and executing an adaptation control with the aid of a state feedback amount and a moving command when the subject is positioned in the vicinity of a hand. CONSTITUTION:When the moving command Vc is given, the hand 5 approaches a disk 9. However, since the state amount Fr of a power sensor 3 is not fed back to said position, the exogenous state being a noise is not inputted as a control amount, thereby attaching a high speed drive. When the hand 5 contacts the disk 9, the power sensor 3 is deformed, and the power measurement value Fr is generated in accordance with said deformation. Accordingly the value of the input command Vc seems to be subtracted from the power measurement value Fr, so that it turns out apparently a value smaller than the speed command value to speed down the hand 5. In the final balanced state a motor 26 stops, and an actual speed value comes to zero.
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