CONTROLLER OF MANIPULATOR

摘要

PURPOSE:To prevent the deterioration of performance of a manipulator owing to a friction change of a joint shaft, by controlling the feedback gain so that the maximum current drive level of the manipulator is set within a range set near a saturated current level. CONSTITUTION:A gain 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 (between Imax and IMU shown in the figure) which is set based on the saturated current level Imax set to the motor 10 to decide whether the current is saturated or not by a single action. If the current is saturated by a single action, the control parameter value lambda set by the preceding action in response to the capacity of the motor 10 is increased by DELTAlambda together with feedback gains K1 and K2 reduced respectively. Thus the current is not saturated by the next action.