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Title:
FORCE-TORQUE CONTROL SYSTEM OF MOTOR WITH SPEED REDUCER
Document Type and Number:
Japanese Patent JPS63154088
Kind Code:
A
Abstract:

PURPOSE: To conduct stable torque control and position control having high rigidity simultaneously only by position servo without using a torque sensor by mounting position detectors each to an output shaft for a motor and the working shaft of load.

CONSTITUTION: A first position detector 11 is set up to the output shaft 4 of a motor 2, and a second position detector 12 to the working shaft 7, and the angles of rotation r1, r2 centering around a shaft (l) are each detected. In a servo system 13, a desired value Tr is multiplied by 1/K by an amplifier 14 first to obtain Tr/K, a detected value r2 is added to Tr/K, the (Tr/K)+r2 is compared with the detected value r1, a control action signal 16 bringing an error to 0 is acquired, and the signal 16 is multiplied by A by an amplifier 15 to obtain currents (i).


Inventors:
TANIE KAZUO
YOKOI KAZUHITO
KANEKO MAKOTO
Application Number:
JP1986000298304
Publication Date:
June 27, 1988
Filing Date:
December 15, 1986
Export Citation:
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Assignee:
AGENCY IND SCIENCE TECHN
International Classes:
G01L3/10; B25J13/08; B25J17/00; H02P23/00; H02P25/04; (IPC1-7): B25J13/08; B25J17/00; G01L3/10; H02P5/28
Domestic Patent References:
JPS594954A1984-01-11



 
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