| 摘要 |
PURPOSE:To drive a robot with high position repeating accuracy in a wide temperature range by automatically adjusting the neutral point of a pulse width modulating signal to be a servo valve driving signal. CONSTITUTION:The titled control device is constituted of an oil temperature detecting circuit 7 for detecting the temperature T of driving oil from a hydraulic source P of a robot R, a function generator 8 for generating a neutral point M on the basis of the detected oil temperature T, a comparator 3 for calculating the deviation of a robot shaft on the basis of an objective position outputted from a signal command circuit 1 and a current position and outputting the operating variable, etc. When respective shafts of the robot R are to be controlled by said constitution, the value of the neutral point M outputted from the generator 8 is increased at the time of a low oil pressure and the value is reduced at a high oil temperature. When the neutral point M is changed, the output of the circuit 3 is turned to '0' at the stop of the robot R, so that the leading end of the robot R can be precisely positioned. |
