| 摘要 |
PURPOSE:To ensure satisfactory control of a robot when the teaching power is excluded by calculating a speed deviation within a space of a hand part on the basis of the detection result of the teaching power, obtaining a target speed from the sum of said speed deviation and the present speed and driving a subject at the target speed. CONSTITUTION:D/A converters 2a-2f and an input interface 7 are connected to a robot controller 1. The converters 2a-2f are also connected to speed detectors 5a-5f via servo amplifiers 3a-3f and actuators 4a-4f. These detectors feed the result of detection back to the amplifiers 3a-3f. Here a power detector 6 detects the teaching power and calculates a speed deviation within a space at a hand part of a robot. Then a target speed is decided by multiplying the sum of said speed deviation and the present speed by a <=1 positive constant. The actuators 4a-4f are controlled by the target speed, and the smooth speed attenuation characteristics can be obtained when the teaching power is excluded. At the same time, the variance is eliminated toward the speed direction. |
