| 摘要 |
PURPOSE:To stabilize a positioning speed by correcting the difference signals between position signals on the basis of the rate of the reference speed reduction ratio of the moving part of an industrial robot and an actual speed reduction ratio. CONSTITUTION:A signal from a position detector E is added AD1 to a command position signal from a control part C to obtain a speed command signal. This signal is added AD2 to an actual detected speed signal to drive a motor M through an amplifer so that the difference is eliminated, thereby rotating the fulcrum RJ of a robot arm to a specific position. For the purpose, a storage part 1 for storing the speed reduction ratio of an actual speed reduction ratio at every fine rotational angle position within the movable range of said fulcrum RJ and the reference speed reduction ratio and a correcting circuit 2 which multiplied the speed signal from the adder AD1 by the speed reduction ratio read out according to the rotational position of the fulcrum RJ are provided. Consequently, a speed command signal to the motor M is large where the actual speed reduction ratio is large and stable speed control is performed. |
