PURPOSE:To reduce energy loss by performing sliding mode control based on the value of a nonlinear item fluctuating corresponding to the state of a controlled system. CONSTITUTION:The data of the nonlinear item(inertia, gravitation item) fluctuating corresponding to the state of a robot corresponding to the state of the robot at that time is sent from a host computer 1 to the processor of a digital servo circuit 3. Therefore, it follows that the processor of the digital servo circuit 3 performs the sliding mode control based on the value of the nonlinear item at that time. Thereby, deflection of a current that flows on a motor can be reduced, and thermal loss can be reduced.
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