VIBRATION-PROOF CONTROLLER FOR MANIPULATOR

摘要

PURPOSE:To momentarily drive a manipulator without obstructing acceleration or deceleration of a mechanism to be driven, based on an operation command, while performing the vibration isolation of the mechanism to be driven, by allowing a driving speed of a motor and a moving speed of the mechanism to be driven to coincide with each other. CONSTITUTION:A vibration system of a controlled system consisting of a motor 8, a mechanism 9 to be driven, and a transfer mechanism for connecting the motor and the mechanism to be driven is modeled. To a state observing circuit 30 for estimating an internal state of this vibration system model, a motor current detecting signal of a driving motor 8 corresponding to an operation command, and an acceleration detecting signal of the mechanism 9 to be driven are inputted. An estimated value X of a speed component X of the internal state of the vibration system model of the controlled system is outputted, this state estimated value X is brought to a feedback control to an input side of the motor 8 through a gain adjusting circuit 22 and a feedback compensating circuit 31, or a state signal amplifier circuit 32, and a driving speed of the motor 8 and a moving speed of the mechanism to be driven 9 are allowed to coincide with each other. In such a way, a vibration of the mechanism to be driven can be decreased.