| 摘要 |
PURPOSE:To make a compensating torque constant independently of an operating force, by preventing a differential signal from being inputted to a compensating torque generating circuit while a master-side arm of a servo system is driven in a speed outside a prescribed range and preventing the direction switching of the compensating torque during driving of the master-side arm. CONSTITUTION:The operating force of a master-side arm shaft 1 is detected by a force detector 12 mounted on a master arm 10, and the detection signal is applied to an analog switch 19 through a differentiator 13. The output of this switch 19 is applied to compensating amplifiers 15 and 16 through a Schmitt circuit 14, and master-side and slave-side motors 8 and 9 are controlled by outputs of amplifiers 15 and 16. A speed detector 17 interlocked with the motor 8 of the master-side arm shaft 1 is provided; and when its detection signal X1 exceeds a prescribed value, the output signal is applied to the switch 19 by a window comparator 18, and the output of the differentiator 13 is inputted to the circuit 14. Thus, the differential signal is prevented from being inputted to circuits 16 and 15 while the arm 10 is driven in a speed outside a prescribed range, and the compensating torque is made constant independently of the operating force. |
