Flexible servo control method
AssigneeFanuc Corporation
InventorsTetsuaki Kato, Soichi Arita, Masaru Nakamura
Life of this patent
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Abstract
A robotic arm is driven by a servomotor which is controlled through position and speed control loops. The position and speed control loops are adaptable in response to a flexible position control. Upon receipt of a flexible control command, a position gain and a proportional gain of the speed control loop are lowered in accordance with a set degree of flexibility. The output of an integrator of the speed control loop is also limited to a set clamp value. As a result, a torque command for controlling the servomotor never achieves an expressly large value even if a position deviation increases. In case an obstacle is placed in the transfer path of the robotic arm, the arm can be moved by human power to avoid the obstacle.
Claims10
A flexible servo control method for controlling a servomotor to drive a body, said control system being provided with a position control loop and a speed control loop including an integrator, said method comprising the steps of:
- setting a position gain and a proportional gain of the speed control loop to respective predetermined values;
- lowering the position gain and proportional gain of the speed control loop to respective lower values in response to a flexible control command input into the control system;
- clamping an output of the integrator of the speed control loop to a set value;
- and
- driving the servomotor with the clamped output of said integrator in response to the flexible control command so that the body driven by said servomotor can be moved manually.
A flexible servo control method for controlling a servomotor to drive a body in a control system provided with a position control loop and a speed control loop, comprising the steps of:
- lowering a position gain and a proportional gain of the speed control loop to respective predetermined values from respective original values;
- storing a value which is disposed in an integrator of the speed control loop in a register and clearing said integrator when a flexible control command is input;
- executing position control loop and speed control loop processing in accordance with said lowered position and proportional gains while clamping an output of the integrator to a set value;
- and
- driving the servomotor with a torque command produced by adding the value stored in said register to the clamped output from said integrator so that the body driven by said servomotor can be moved manually.
Dependencies are inferred from the claim text.