| 摘要 |
PURPOSE:To permit a traveling object to follow up an indicated track without any deviation by varying the status feedback gain of a compensator according to the position of the body to be controlled and providing a system with desired characteristics all the time. CONSTITUTION:A gain adjusting part 23 inputs a displacement angle signal thetak read from the encoder 9 of a motor system 8, timer signal kDELTAT (DELTAT; sample period) from an arithmetic processor 24, detection signal Lk from a load detector 21 fitted on a robot, and status feedback gain value fx stored in a gain storage part 22 to calculate a status feedback gain f(kDELTAT) which is expected at time kDELTAT by linear interpolation, thereby setting it as the status feedback gain of the compensator. Thus, the compensator 2 is adjusted automatically. |
