| 摘要 |
PURPOSE:To obtain an accurate locus of action, by utilizing the advantages of an open control and at the same time applying a feedback control to reduce the disturbance of locus at the tip of an arm. CONSTITUTION:The pulses given from an encoder E1 of the 1st arm are counted by an absolute turning angle counter C1 that shows the absolute turning angle of the 1st arm and a relative turning angle counter C2 that sets an optional original point of the turning angle. The pulses given from an encoder E2 of the 2nd arm are counted by a counter C3 that shows the absolute turning angle of the 1st arm. The degree of operation calculated by an operator K2 is fed back to the 2nd arm driving motor M2 through a D/A converter D2, a compensating circuit H2 and an amplifier A2. At the same time, a position pattern of the 1st arm is produced at a control part P to perform a tracking control. Otherwise the 1st arm is turned by an open control. |
