| 摘要 |
PURPOSE:To attain the force removing control by controlling the drive current of a motor for a vertical joint shaft with the compensation command value delivered from a gravity balance compensating circuit and moving freely the mobile part of a robot with the external force while keeping the gravity balance. CONSTITUTION:A robot controller controls the drive current of a drive motor for mobile part of a robot in response to the command value decided by the deviation between the speed command value and the speed feedback value given from a speed detection system of the robot mobile part. Then the compensation command values CS1 and CS2 delivered from a gravity balance compensating circuit 50 are supplied to addition circuits 32 and 42 via changeover switches SW9 and SW10 of a command value control circuit 45 in a force removing mode. The drive current for compensation of gravity is flowed to motors 4 and 11 through current control parts 27 and 37 even though the current command values S1 and S2 delivered from speed control parts 26 and 36 are equal to zero. Thus the shaft torque is produced against the gravity of the 1st and 2nd arms 5 and 7 as well as a hand 9. As a result, both arms 5 and 7 can keep their postures in the good gravity balance. |
