| 摘要 |
PURPOSE:To improve the working precision at a high-speed operation time by compensating a shake torque in angle, angular velocity, and angular acceleration detection values of a shaking mechanism to generate a current command signal and controlling driving on a basis of this command. CONSTITUTION:A sensor 5 is attached to the revolving shaft of a shaking mechanism 4, and a detecting part 6 is connected to the sensor 5 to detect the angle, the angular velocity, and the angular acceleration of the mechanism 4. A shake torque compensating mechanism 7 compensates the shake torque in angle, angular velocity, and angular acceleration detection values inputted from the detecting part 6 to generate the current command signal. A velocity command generating mechanism 1 to which the angle detection value from the detecting part 6 and target values of the position and the velocity of external work materials are inputted outputs a velocity command signal. The velocity command signal, the angular velocity detection value from the detecting part 6, and the current command signal from the mechanism 7 are inputted to a motor controller 2 to generate an armature current, and this current is outputted to a motor 3. |
