CONTROLLING SYSTEM FOR KINETIC MECHANISM WITH MULTIFREEDOM

摘要

PURPOSE:To change the speed of the titled mechanism and to improve its accuracy by feeding back the fluctuation torque generated by the influence of mutual interference, centrifugal force, Coriois force, gravity, etc. of working shafts on the basis of signals relating to the position and speed corresponding to each working shaft. CONSTITUTION:A positional signal (x) of each working shaft of a multifreedom kinetic mechanism is obtained by passing a signal outputted from a position detector 1 fitted to the working shaft through a waveform shaping element 2 and a speed signal (x') is obtained by passing the positioned signal (x) through a speed operation element 3. A main operating element 4 operates a torque command U on the basis of these positional signal (x), speed signal (x') and the value of a command from a storing element 5. The torque command U is amplified by an amplifier 6 and applied to a servomotor of a multifreedom kinetic mechanism 7. Namely, a fluctuating torque component influenced by centrifugal force and Coriolis's signal (x) and the speed signal (x') and these are fed back.