PURPOSE: To eliminate the stationary difference without deteriorating the system stability and secure the excellent transition responsiveness and permit the positioning with high precision.
CONSTITUTION: As far a controller for controlling the operation of a manipulator equipped with at least one joint S driven by fluid, the external turbulence (d) applied to a control system for the joint is calculated and estimated on the basis of the input value applied to the joint and the joint output value generated by the input value, and the joint input value is applied with correction so that the external turbulence Λd which is calculated and estimated is offset. The joint input value and output value are those of the angle of the joint, position, angular speed, speed, angular accelerating speed, accelerating speed, external force, torque, pressure, etc., and the external turbulences applied to the control system for the joint are the reactions at the part other than the joint, accompanied with the joint operation, such as the variation of the load applied to the joint, change of the neutral point of a flow rate adjusting valve or pressure adjusting valve, and the change of the neutral point of an electric current adjustor.
TORATANI TOMOAKI
NUMANAMI MASAE
AONUMA YOSHINORI
YAMAMOTO TOSHIRO
FURUKAWA ELECTRIC CO LTD
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