| 摘要 |
PURPOSE:To avoid the deterioration of performance of a manipulator owing to a secular change of the mechanical part, by controlling the generating pattern of the target value so that the maximum drive current of the manipulator is set within a range near a saturated current level. CONSTITUTION:A generating pattern controller 14 always monitors the current (i) flowing to a motor 10 via a current detector 13. The current (i) is compared with a level band decided by a saturated current level Imax set to the motor 10 to decide whether the maximum current level of the motor 10 is delivered or not from said level band by a single action. If said maximum current level is delivered from said level band and saturated, the roots lambda1 and lambda2 or a working pattern equation produced by the preceding action are increased by DELTAlambda1 and DELTAlambda2 respectively. Then the control signal is sent to a target pattern generator 1 so that the current is not saturated by the next action. |
