| 摘要 |
PURPOSE:To control both the power and the position of a robot hand by detecting the power applied to an actuator by a power detector, etc. and using the present position of a position detector and the sum added with the prescribed weight as a basic control amount. CONSTITUTION:A robot 1 has a hand 1a at its tip part, arms 1b-1e that actuate the hand 1a and a base 1f. The hand 1a is moved by an actuator. Each actuator contains position detectors 21 and 22, and outputs (p) and p1 of these detectors are supplied to a signal processing circuit 3 for detection of the power and the position of the robot 1. Thus the detected position (p) of the detector 22 is obtained together with the detection power (f), i.e., the difference between both detectors 21 and 22. These positions (p) and the power (f) are supplied to a computer 4 to monitor the working state of the robot 1 as well as to deliver a target command position p0, the target command power f0 and the 1st and 2nd weights (a) and (b). Based on these outputs, a controller 5 controls the drive current of each actuator so that (y) in an equation I is set at zero (DELTAp and DELTAf are shown by equations II and III respectively). |
