| 摘要 |
PURPOSE:To reduce oscillation in the acceleration and deceleration of the motor for a robot arm and oscillation due to disturbance during movement of the arm by feeding a signal proportional to the oscillation speed of a machine system back to the current command part of a speed control system. CONSTITUTION:A transfer function generation part 12 finds transfer characteristics between the oscillation speed of the machine system and the current flowing through the motor, generates an electric equivalent model to generate a signal proportional to the oscillation system of the machine system, and compensates the phase of the signal to feed the signal back to the current command part of the control system. Consequently, the phases of the feedback amounts of the current speed and the position of the oscillation speed of the machine system are made equal even in case of torque disturbance, namely, when frequency of an exciting source is equal to the resonance frequency of the machine system, and the movement track of the arm of the robot is made smooth. |
