Abstract: A machine control system includes circuitry configured to acquire a second waveform that is generated by exponentiating a first waveform by a real number, and to operate a machine based on the second waveform. The first waveform represents a command of an operation of the machine. The real number has a value other than 0 and 1.

Abstract: A motor control apparatus includes a state quantity detector configured to output a detection signal in correspondence with a state quantity of a motor, a vibration detection unit configured to detect a disturbance vibration component of the motor based on a torque instruction and the detection signal and output a vibrational component signal in correspondence with the detection result, a speed signal generator configured to generate a speed signal based on a result of subtracting the vibration component signal from the detection signal, and a speed controller configured to generate the torque instruction based on a deviation between a speed instruction and the speed signal.

Abstract: A motor control apparatus includes a state quantity detector configured to output a detection signal in correspondence with a state quantity of a motor, a vibration detection unit configured to detect a disturbance vibration component of the motor based on a torque instruction and the detection signal and output a vibrational component signal in correspondence with the detection result, a speed signal generator configured to generate a speed signal based on a result of subtracting the vibration component signal from the detection signal, and a speed controller configured to generate the torque instruction based on a deviation between a speed instruction and the speed signal.

Abstract: A motor control apparatus includes a power converter, a speed controller, and a stop position controller. The power converter outputs a current to drive a motor based on a torque command. The speed controller generates the torque command based on an error between a speed command of the motor and a speed of the motor. The stop position controller calculates an acceleration command to output a predetermined torque after detection of a reference position per revolution of a position detector for a first time during speed control of the motor, generates a torque feed-forward command based on the acceleration command, generates a position command based on the acceleration command, and generates the speed command based on an error between the position command and the motor position to execute position control of the motor.

Abstract: A motor control apparatus includes a power converter, a speed controller, and a stop position controller. The power converter outputs a current to drive a motor based on a torque command. The speed controller generates the torque command based on an error between a speed command of the motor and a speed of the motor. The stop position controller calculates an acceleration command to output a predetermined torque after detection of a reference position per revolution of a position detector for a first time during speed control of the motor, generates a torque feed-forward command based on the acceleration command, generates a position command based on the acceleration command, and generates the speed command based on an error between the position command and the motor position to execute position control of the motor.

Abstract: A motion controller accurately identifies system constants, such as inertia, viscous friction coefficient, and constant disturbance, without requiring operation, even in cases where viscous friction and/or constant disturbance are present. An identifier includes a time-differentiator for calculating an acceleration detection value afb by time-differentiating a speed detection value Vfb, a first filter for calculating Fafb by filtering the acceleration detection value afb, a second filter for calculating Fvfb by filtering the speed detection value Vfb, a third filter for calculating Ftref by filtering a torque command value Tref, and a JDC estimator for calculating an inertia identification value J_hat, a viscous friction coefficient identification value D_hat, and a constant disturbance identification value C_hat of a control object by performing time-differentiation and four arithmetic operations based on Ftref, Fvfb and Fafb.

Abstract: When there exists an error between a model considered in feed-forward and an actual device, it is configured so as to enable the application of control having feed-forward such as predictive control without problem to reduce a model error. Furthermore, it is configured to enable more fine adjustment of the actual device by adjusting the balance of gains ? and ?. An operational unit is provided with an error signal calculation unit for outputting an error command and an error feedback value based on a position feed-forward signal and a position detection value, and an error compensation operation unit for controlling so that the error command and the error feedback value coincides with each other. This operational unit is provided at a control operation device.

Abstract: A robot control apparatus capable of largely reducing a calculation amount to be capable of lowering a load of a CPU is provided.

Abstract: A motion controller accurately identifies system constants, such as inertia, viscous friction coefficient, and constant disturbance, without requiring operation, even in cases where viscous friction and/or constant disturbance are present. An identifier includes a time-differentiator for calculating an acceleration detection value afb by time-differentiating a speed detection value Vfb, a first filter for calculating Fafb by filtering the acceleration detection value afb, a second filter for calculating Fvfb by filtering the speed detection value Vfb, a third filter for calculating Ftref by filtering a torque command value Tref, and a JDC estimator for calculating an inertia identification value J_hat, a viscous friction coefficient identification value D_hat, and a constant disturbance identification value C_hat of a control object by performing time-differentiation and four arithmetic operations based on Ftref, Fvfb and Fafb.

Abstract: When there exists an error between a model considered in feed-forward and an actual device, it is configured so as to enable the application of control having feed-forward such as predictive control without problem to reduce a model error. Furthermore, it is configured to enable more fine adjustment of the actual device by adjusting the balance of gains ? and ?. An operational unit is provided with an error signal calculation unit for outputting an error command and an error feedback value based on a position feed-forward signal and a position detection value, and an error compensation operation unit for controlling so that the error command and the error feedback value coincides with each other. This operational unit is provided at a control operation device.

Abstract: A robot control apparatus capable of largely reducing a calculation amount to be capable of lowering a load of a CPU is provided.

Abstract: The invention relates to a apparatus for producing an optimum command to process a command to be input to a servo control section in order to operate a control object having a vibrating element without a vibration in such a manner that a delay from a command is reduced as greatly as possible. An optimum command producing apparatus for inputting a command, processing the command in such a manner that a control object implements a desirable operation and outputting an optimum command value to a servo control apparatus, includes an N-order filter processing section (1) for carrying out an N-order filter processing for the command and calculating values from a 1-rank differential to an (N-1)-rank differential of the command subjected to the filter processing, and an arithmetic unit (2) for adding a value obtained by multiplying an output of the N-order filter processing section (1) by a gain.

Abstract: It is constructed so as to be able to follow without delay and flexibly cope with a change in a command of a host controller in the case of receiving a target command value at the present time from the host controller every certain period. In a servo control apparatus 2 for causing an output of a controlled object 3 to follow target commands received from a host controller 1 every certain period, predictive target commands to the next M steps are generated every each period using a history of the target commands and command follow-up control is performed by predictive and preview control or feedback gain switching control using the predictive target commands.

Abstract: Flexible structures with two or more inertia systems connected through spring elements have heretofore presented problems that references and loads do not perfectly accord and that complicated calculations required involve an enormous amount of calculations, a servo control method using feed-forward is characterized by comprising the steps of expressing the position of a load and the position of a motor in respective functions capable of higher order differentiation, determining such functions capable of higher order differentiation from operating conditions (4) and mechanical parameters (5), calculating the motor position, speed and torque reference from the determined functions capable of higher-order differentiation, and using the calculated motor position, speed and torque reference as feed-forward references or of calculating a motor torque reference from the determined function capable of higher order differentiation, inputting the calculated torque reference into a mechanical model, and using the obtai