| 摘要 |
PURPOSE:To improve linear track accuracy and constant speed properties by obtaining a feedback gain based on output data of a position detector of an actuator. CONSTITUTION:A processor 1 of a track correction controller of a robot hand executes a management of a memory 3, etc. through various operation controls and a bus 2. In this state, in accordance with an instruction from a teaching box 8, four proportional coefficients in the memory 3 are initialized to a small value, and in accordance with program data, a playback operation by a linear path is executed. In this case, an output value of a displacement detector of an actuator of each sampling time is read, and stored as track data in the memory 3. Also, after the playback, the position of the head is calculated based on said stored data, and the distance between its position and theoretical track is calculated and stored in the same way. The same operation is repeated by changing said proportional coefficient, and an optimum value of each coefficient is determined. |
