| 摘要 |
PURPOSE:To secure the smooth nonlinear compensation with no discontinuousness by giving interpolation to the nonlinear compensation amount obtained between sampling time points by means of the nonlinear compensation carried out at sampling time points before and after said compensation amount. CONSTITUTION:A manipulator 1, i.e., a control subject compares a target amount with a feedback amount through a feedback arithmetic circuit 2 in a prescribed control cycle and is controlled by the control output (torque command) tauL that sets the deviation of said comparison at zero. Here a sampling circuit 3 is added together with an estimating circuit 4, an arithmetic circuit 5 for nonlinear compensation amount, a backup circuit 6 and a loop which obtains the nonlinear compensation amount tauNL of an interpolation circuit 7. Then the command tauL is compensated with the amount tauNL to obtain the control output tau. Based on the amount tauNL, both the position and the speed at the sampling time point following the next time point are estimated by the circuit 4 with the function approximation based on the present and past time series data. The circuit 5 calculates the compensation amount gammaNL according to said estimated position and speed. Then the nonlinear compensation amount of the corresponding time point is obtained by the circuit 7. |
