PURPOSE: To manually mode robot arms incorporated in respective shafts by converting softness, specified on work coordinates, into the servo gains of the respective shafts of servomotors.
CONSTITUTION: When the extent of the softness of flexible control is specified on a work coordinate system, the specified extent of the softness is converted into the extent of softness to servo control systems incorporated in the reapective axes of the motors and the position gain Kp of the position control lops of the respective shafts and the proportional gain K2 of the speed loops are varied. The position gain is smaller than usual corresponding to the extent of the softness, so a speed command obtained by multiplying position deviation by the gain Kp becomes smaller than usual and the difference between the speed command and a motor speed becomes small. And, the proportional gain K2 is also varied to a value which is smaller than usual, to the output value from a proportional term 3 also decreases. Further, the output of an integrator 2 is also limited and outputted, so a torque command never has a large value.
ARITA SOUICHI
NAKAMURA MASARU
