Title:
SERVO CONTROLLER
Document Type and Number:
Japanese Patent JPH03105510
Kind Code:
A
Abstract:
PURPOSE:To ensure the stable working of a servo controller by using tentatively and sequentially the value obtained by subtracting the error command value from the target position value as the new target position value and securing the compliance properties to a control subject. CONSTITUTION:The error command value 11 is produced as a function of an estimated disturbance torque 9, and the value obtained by subtracting the value 11 from the target position value 5 is sequentially set as the tentative target position value 12. Thus a control subject 2 is provided with a function that secures the apparent compliance properties. As a result, the subject 2 is controlled with the compliance properties secured to an artificial disturbance load. Furthermore the subject 2 can be moved artificially even in an excited state. Thus it is possible to ensure the stable working of a servo controller with a slight force and with no use of a balance mechanism nor additional equipments like a force sensor, etc.
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Inventors:
SHIMADA AKIRA
Application Number:
JP24404889A
Publication Date:
May 02, 1991
Filing Date:
September 20, 1989
Export Citation:
Assignee:
SEIKO INSTR INC
International Classes:
G05B13/04; G05B19/19; G05B19/23; G05B19/423; G05D3/12; (IPC1-7): G05B13/04; G05D3/12
Attorney, Agent or Firm:
Keinosuke Hayashi