| 摘要 |
PURPOSE:To maintain smooth stop of respective shafts of a robot and to improve the accuracy of a stop position by switching a positional loop gain at a low speed continuously on the basis of a smooth function. CONSTITUTION:A digital position servo of a robot is constituted of a deviation counter 6, a loop gain compensating part 7, a D/A converter 8, an amplifier 9, a servo motor 10 to be controlled, and a position detector 11. As the result of the addition of the loop gain compensating part 7, the compensating function G(Z) of the compensating part 7 increases the positional loop gain continuously and smoothly when its deviation value (z) is small. Consequently, the smoothness of stop can be maintained and the response characteristic of an object to be controlled can be improved. |
