DISCRETE-TIME MODEL REFERENCE ADAPTIVE CONTROLLING METHOD OF DRIVING DEVICE FOR POSITIONING

摘要

PURPOSE:To simplify an operation of a control law, and to make it inexpensive by setting a sampling period of the time of detection of positioning to a value which can disregard a coefficient of viscosity contained in its equation of motion, and also making it correspond to an external force and a moment of inertia. CONSTITUTION:A data communication means 50 commands a target turning position of a robot arm to a model pattern generating means 52 by a data from a master computer 38, and brings a servomotor 32 of the arm to a driving control through a control means 58 and a limiter means 60, etc. This control means 58 calculates a position target, etc. in accordance with a control law which has been stored in advance. In this regard, a parameter adjusting means 68 adjusts two parameters of the control law used by the control means 58. In this way, this parameter is adjusted, also a sampling period for detecting turning position of the arm is set to a samll value which can disregard a coefficient of viscosity of an equation of motion, and an operation time of the control law by this parameter can be shortened.