| 摘要 |
PURPOSE:To make smooth following-up with an external force possible by detecting the following-up force of a moving part at the robot damping control time and controlling the riving current of a motor by a compensation command value outputted in accordance with this detected value. CONSTITUTION:When a limit switch 15 of a switching circuit 46 is turned on, a relay coil L1 of a command value control circuit 45 is excited, and movable contacts (c) of changeover switches SW1-SW11 are switched to contacts (a), and a speed command value and a speed feedback value inputted to speed control parts 26 and 36 are set to zero. Then, motors 4 and 10 or the like be come free to break the attitude of each arm or the like. This state is detected by a force sensor 22 to input a voltage corresponding to the state to a following-up force compensating circuit 60. The circuit 60 inputs a following-up compensation command value CS3 corresponding to the input from the sensor 22 to a current control part 37. Thus, though a current command value S2 outputted from the control part 36 is zero, the driving current corresponding to the command value CS3 is flowed to the motor 10 by the control part 37 to turn the arm or the like while following up the external force without resis tance. |
