| 摘要 |
PURPOSE:To fine the speed and angular speed of a body to be controlled at each position by the deviation of movement positions at a next target position and the current movement position, by providing a feedback loop which feeds information on the current movement position of the body to be controlled back to a speed generation part. CONSTITUTION:An arithmetic processor 1 outputs a joint angle thetaK+1 at each sampling point to a speed-indication-value generation part 2 on the basis of a transition curve from a starting point X0 to an ending point XN, and when a rotation-speed indication value generated by a current-position value theta'K by an encoder position counter 8 is greater than the counter value of an incorporated counter, pulses from the counter are outputted by a function generation part 3 for the rotation-speed indication value and processed by D/A conversion, thereby outputting the result to a V/F converter 5. Then, a motor driving circuit 7 is controlled by a position control part 10 so that the position deviation of a joint angle thetaK obtained by counting a digital signal from the converter 5 by a comparison-position counter 6 and the joint angle theta'K from the counter 8 is zero. |
