| 摘要 |
PURPOSE:To improve the follow-up property of positional change and to turn a stationary deviation to ''0'' by correcting the factors of the primary and secondary differetial values of a position in accordance with the joint angles of a robot and inputting the corrected values together with a position command value feed- forwardly. CONSTITUTION:Every input of an objective signal R from a position command value generator 10, a constant generator 11 generates the gain Kb of a constant detector. The 1st operator 13 calculates S/Kl from the flow rate gain Kl of a servo valve. Tangential line function generators 19, 20 calculate 1/(ri)<2> based upon inertia moment Ii and moment arm length ri from the outputs of joint angle detectors 17, 18 and the calculated value is multiplied with the output (K2/K.A2)S<2> of an operator 15. Said multiplied value is added to an adder 12 and the added value is applied to a control system 23 as a forward input. |
