Abstract: The present disclosure presents systems and methods for assisting a crane operator. An imaging system automatically images each building material object contained within a shakeout field on a construction site and processes the images to determine each object's identifying indicium and its geometric properties. These values are compared with a construction site database to ensure that all necessary building materials are present. A positioning device tracks, in real time, the location of the imaging system, the location of structural members within the shakeout field, and/or other important features of the job site, such as obstacles that the crane operator will need to avoid while lifting a structural member from its initial location to its destination location.

Abstract: The present disclosure presents systems and methods for assisting a crane operator. An imaging system automatically images each building material object contained within a shakeout field on a construction site and processes the images to determine each object's identifying indicium and its geometric properties. These values are compared with a construction site database to ensure that all necessary building materials are present. A positioning device tracks, in real time, the location of the imaging system, the location of structural members within the shakeout field, and/or other important features of the job site, such as obstacles that the crane operator will need to avoid while lifting a structural member from its initial location to its destination location.

Abstract: A vibration suppression method for a servo motor and a load multistage drive system is provided. For a number N of fixed vibration frequencies and one vibration frequency varying with a load position existing in a multistage drive mechanism, a number of N+1 vibration suppression filters are adopted, and each filter is configured to eliminate a corresponding vibration frequency. Fixed vibration frequencies and a vibration frequency varying with a load position in a multistage drive system are measured by using an offline method, and the varied vibration frequencies are made into a two-dimensional table related to the load positions. The fixed vibration frequencies are eliminated by using fixed-frequency parameter vibration suppression filters; and the varied vibration frequencies are eliminated by using a variable-frequency parameter vibration suppression filter, and the vibration frequencies are obtained in real time according to the load positions and the two-dimensional table.

Abstract: This invention provides a system and method that automatically decides motion parameters of hand-eye calibration, and conducts the calibration procedure with minimal human intervention. It automatically computes hand-eye calibration motion parameters and spatial positions during pre-calibration, whereby the calibration pattern can continuously remain inside, and covering, the entire field of view FOV of the vision system camera, providing a fully automatic hand-eye calibration process. This system and method advantageously operates in a robot-based hand-eye calibration environment and can compensate for a cantilever effect between the calibration target and the FOV. A hand-eye calibration computes the transformation from the robot coordinate space to the camera coordinate space.

Abstract: An ultrasound scanning control method applied to an ultrasound scanning device is provided. The ultrasound scanning device includes an execution mechanism. The execution mechanism includes a mechanical arm and a probe. The ultrasound scanning control method includes: controlling the mechanical arm to drive the probe to move according to a set scanning trajectory; and controlling the probe to collect an ultrasound image. A target region is identified from the collected ultrasound image. The scanning trajectory is adjusted when a position of the target region in the ultrasound image is not a predetermined position, and the mechanical arm is controlled to drive the probe to move according to the adjusted scanning trajectory.

Abstract: An abnormality detection method for detecting an abnormality of an encoder provided for a robot includes: obtaining corrected position information according to commanded position information output from a controller that designates the rotational position of a motor and an output signal output from the encoder; and, determining, after comparing the corrected position information with the detected position information according to the output signal output from the encoder, the abnormality of the encoder, if there is a difference greater than or equal to a predetermined value between the corrected position information and the detected position information. The controller removes a vibration component of the robot corresponding to the weight of an attachment load from the commanded position information and compensates for a time delay to obtain the corrected position information.

Abstract: The disclosure relates to an aerial transportation vehicle including a vehicle frame.

Abstract: The invention relates to a system for central control of one or more cranes including at least one crane and at least one central control station, wherein the crane includes one or multiple image sensors observing a picked-up load, at least part of the crane surroundings and at least part of the crane structure, the crane is connected with the control station for the transmission of the image sensor data via at least one bidirectional communication link, and wherein the control station comprises at least one display element for the visual representation of the received sensor data as well as provides at least one input device for inputting control commands, and the control commands can be transmitted, via the communication link, to one or more crane actuators and/or the crane control for performing crane movements.

Abstract: A control apparatus of a robot may include a state obtaining unit configured to obtain state observation data including flexible related observation data, which is observation data regarding a state of at least one of a flexible portion, a portion of the robot on a side where an object is gripped relative to the flexible portion, and the gripped object; and a controller configured to control the robot so as to output an action to be performed by the robot to perform predetermined work on the object, in response to receiving the state observation data, based on output obtained as a result of inputting the state observation data obtained by the state obtaining unit to a learning model, the learning model being learned in advance through machine learning and included in the controller.

Abstract: A teleoperated robotic system that includes master control arms, slave arms, and a mobile platform. In use, a user manipulates the master control arms to control movement of the slave arms. The teleoperated robotic system can include two master control arms and two slave arms. The master control arms and the slave arms are mounted on the platform. The platform can provide support for the master control arms and for a teleoperator, or user, of the robotic system. Thus, a mobile platform can allow the robotic system to be moved from place to place to locate the slave arms in a position for use. Additionally, the user can be positioned on the platform, such that the user can see and hear, directly, the slave arms and the workspace in which the slave arms operate.

Abstract: Disclosed are systems and methods for achieving a smooth transition in the grip force when the wrist jaws transition between the position and force mode. In the position mode, the desired jaw angle is above a threshold corresponding to an angle at which both jaws are just simultaneously in contact with an object held between the jaws or, if there is no object, when the jaws begin to touch each other. A feedback loop may determine that the jaws are transitioning between the modes based on changes of the desired jaw angle. The feedback loop may analyze the commanded grip force and the measured grip force to determine whether to adjust the commanded grip force during the transition. If so, the feedback loop may adjust the commanded grip force to reduce changes in the measured grip force that is otherwise based on the desired jaw angle.

Abstract: In an angular velocity calculation block, an angular velocity component is calculated based on a position command for a joint portion. In a kinetic calculation block, a kinetic torque is calculated based on the position command for the joint portion. In a command velocity component reversal detection block, a reversal timing is calculated based on the angular velocity component. In a reverse torque detection block, a reverse torque is calculated based on the kinetic torque and the reversal timing. In a backlash correction amount calculation block, the correction amount of the joint portion is calculated based on the kinetic torque, the reverse torque, and the reversal timing.

Abstract: A system and method for monitoring disturbance forces experienced by a mover in an independent cart system monitors current generated by a controller and a feedback signal corresponding to operation of the mover in response to the current generated by the controller. The controller stores a value of the current reference and of the feedback signal, sampled in tandem, and determines a disturbance force experienced by the mover as it travels along the track as a function of the stored values of the current reference and of the feedback signal. The controller may store the measured disturbance force experienced by the mover as a function of the location of the mover along the track. For each subsequent time the mover travels along the same length of track, the controller may add a compensation value to the current reference to reduce the disturbance force experienced by the mover.

Abstract: An electronic invoicing system performs an integrated method of processing both purchase order based electronic invoices and electronic invoices not associated with a purchase order or transaction receipt. A portal is provided by the system. The portal has respective views for a supplier submitting non-PO based type electronic invoices not associated with a purchase order or transaction receipt, and a user of an enterprise submitting and/or reviewing non-PO based type electronic invoices not associated with a purchase order or transaction receipt. An administrator of the enterprise configures electronic invoice types and processing parameters specific to said electronic invoice types not associated with a purchase order or transaction receipt. A submitted non-PO based type electronic invoice of a configured electronic invoice type is processed in accordance with the processing parameters configured by the administrator for that electronic invoice type.

Abstract: The embodiments disclosed herein relate to various medical device components, including components that can be incorporated into robotic and/or in vivo medical devices. Certain embodiments include various modular medical devices for in vivo medical procedures.

Abstract: An artificial intelligence robot for managing movement of an object using artificial intelligence includes a driving motor, a camera configured to acquire image data, a memory configured to store an object recognition model used to recognize the object from the image data and store a delivery location inference model for inferring a delivery location of the recognized object and a processor configured to recognize the object from the image data using the object recognition model, determine the delivery location of the recognized object from identification data of the recognized object using the delivery location inference model, and control the driving motor to move the artificial intelligence robot to the determined delivery location.

Abstract: The present disclosure provides a foot-waist coordinated gait planning method and an apparatus and a robot using the same. The method includes: obtaining an orientation of each foot of the legged robot, and calculating a positional compensation amount of each ankle of the legged robot based on the orientation of the foot; obtaining an orientation of a waist of the legged robot, and calculating a positional compensation amount of each hip of the legged robot based on the orientation of the waist; calculating a hip-ankle positional vector of the legged robot; compensating the hip-ankle positional vector based on the positional compensation amount of the ankle and the positional compensation amount of the hip to obtain the compensated hip-ankle positional vector; and performing an inverse kinematics analysis on the compensated hip-ankle positional vector to obtain joint angles of the legged robot.

Abstract: A feedforward control method comprising steps of: acquiring kinematic parameters of each joint of a robot based on inverse kinematics according to a pre-planned robot motion trajectory, and setting a center of a body of the robot as a floating base; determining a six-dimensional acceleration of a center of mass of each joint of the robot in a base coordinate system using a forward kinematics algorithm, based on the kinematic parameters of each joint of the robot, and converting the six-dimensional acceleration of the center of mass of each joint of the robot in the base coordinate system to a six-dimensional acceleration in a world coordinate system; and calculating a torque required by a motor of each joint of the robot using an inverse dynamic algorithm, and controlling the motors of corresponding joints of the robot.

Abstract: Techniques are described herein for generating a dynamical systems control policy. A non-parametric family of smooth maps is defined on which vector-field learning problems can be formulated and solved using convex optimization. In some implementations, techniques described herein address the problem of generating contracting vector fields for certifying stability of the dynamical systems arising in robotics applications, e.g., designing stable movement primitives. These learning problems may utilize a set of demonstration trajectories, one or more desired equilibria (e.g., a target point), and once or more statistics including at least an average velocity and average duration of the set of demonstration trajectories. The learned contracting vector fields may induce a contraction tube around a targeted trajectory for an end effector of the robot. In some implementations, the disclosed framework may use curl-free vector-valued Reproducing Kernel Hilbert Spaces.

Abstract: A device for measuring repeated positioning precision of a robotic arm is introduced. Using an optical speckle three-dimensional displacement sensor developed by the inventor, and with collaboration of an optical speckle image three-dimensional positioning base built with an optical speckle coordinate database and having low thermal expansion, an optical speckle three-dimensional absolute positioning space is established. The optical speckle three-dimensional displacement sensor is installed on an end effector of a robotic arm, the robotic arm is moved to have the optical speckle three-dimensional displacement sensor enter an optical speckle three-dimensional absolute positioning space, an optical speckle image of a positioning point is captured and compared with a coordinate optical speckle image in the optical speckle coordinate database, and current three-dimensional absolute positioning coordinates of the end effector of the robotic arm can be obtained.

Abstract: Generating a robot control policy that regulates both motion control and interaction with an environment and/or includes a learned potential function and/or dissipative field. Some implementations relate to resampling temporally distributed data points to generate spatially distributed data points, and generating the control policy using the spatially distributed data points. Some implementations additionally or alternatively relate to automatically determining a potential gradient for data points, and generating the control policy using the automatically determined potential gradient. Some implementations additionally or alternatively relate to determining and assigning a prior weight to each of the data points of multiple groups, and generating the control policy using the weights.

Abstract: A vibration display device including a vibration acquisition unit that acquires a vibration state of a distal end section of a robot that is a robot in a simulation or in a real world, the distal end section being moved based on an operation program, and a vibration trajectory drawing unit that draws, on a display device, the vibration state along a trajectory of the distal end section of the robot or that draws, on the display device, the vibration state as the trajectory.

Abstract: A control method executes a first step of actuating a brake to decelerate a robot arm, a second step of releasing or relaxing the actuation of the brake when one of Conditions A1, A2, and A3 is satisfied after deceleration of the robot arm, and a third step of actuating the brake again to restrict driving of the robot arm when one of Conditions B1, B2, and B3 is satisfied after release or relaxation of the brake, Condition A1: a velocity of the robot arm becomes a predetermined value or less; Condition A2: a contact state between the robot arm and the object becomes stable; Condition A3: time TA elapses; Condition B1: time TB elapses; Condition B2: a movement amount of the robot arm becomes a predetermined value or more; and Condition B3: the contact state between the object and the robot arm is released or relaxed.

Abstract: A robot for detecting a dangerous situation using artificial intelligence includes a memory configured to store a voice recognition model for inferring whether a current situation is the dangerous situation from voice data and an image recognition model for inferring whether the current situation is the dangerous situation from image data, and a processor configured to acquire one or more of the voice data or the image data and output a notification indicating the dangerous situation when the dangerous situation is detected from the voice data using the voice recognition model or when the dangerous situation is detected from the image data using the image recognition model.

Abstract: A robotic gripper (end effector) for an arm-type robotic system includes a hierarchical sensor architecture that utilizes a central data processing circuit to generate rich sensory tactile data in response to pressure, temperature, vibration and/or proximity sensor data generated by finger-mounted sensor groups in response to interactions between the robotic gripper and a target object during robotic system operations. The rich sensory tactile data is used to generate feedback signals that directly control finger actuators and/or tactile information that is supplied to the robotic system's control circuit. Sensor data processing circuits are configured to receive single-sensor data signals in parallel from the sensor groups, and to transmit corresponding finger-level sensor data signal on a serial bus/signal line to the central data processing circuit.

Abstract: A method for determining a step path involves obtaining a reference step path for a robot with at least three feet. The reference step path includes a set of spatial points on a surface that define respective target touchdown locations for the at least three feet. The method also involves receiving a state of the robot. The method further involves generating a reference capture point trajectory based on the reference step path. Additionally, the method involves obtaining at least two potential step paths and a corresponding capture point trajectory. Further, the method involves selecting a particular step path of the at least two potential step paths based on a relationship between the at least two potential step paths, the potential capture point trajectory, the reference step path, and the reference capture point trajectory. The method additionally involves instructing the robot to begin stepping in accordance with the particular step path.

Abstract: The present invention provides a robot system capable of, regardless of the type of the robot, precisely measuring the positional relationship between an AR device and markers, and comparatively easily and with high precision recognizing the position or orientation of the robot with the AR device.

Abstract: Probabilistic models may be used in a deterministic workflow for robotic process automation (RPA). Machine learning (ML) introduces a probabilistic framework where the outcome is not deterministic, and therefore, the steps are not deterministic. Deterministic workflows may be mixed with probabilistic workflows, or probabilistic activities may be inserted into deterministic workflows, in order to create more dynamic workflows. A supervisor system may be used to monitor an ML model and raise an alarm, disable an RPA robot, bypass an RPA robot, or roll back to a previous version of the ML model when an error is detected by a data drift detector, a concept drift detector, or both.

Abstract: The present disclosure discloses a robot control method as well as an apparatus, and a robot using the same. The method includes: obtaining a human pose image; obtaining pixel information of key points in the human pose image; obtaining three-dimensional positional information of key points of a human arm according to the pixel information of the preset key points; obtaining a robotic arm kinematics model of a robot; obtaining an angle of each joint in the robotic arm kinematics model according to the three-dimensional positional information of the key points of the human arm and the robotic arm kinematics model; and controlling an arm of the robot to perform a corresponding action according to the angle of each joint. The control method does not require a three-dimensional stereo camera to collect three-dimensional coordinates of a human body, which reduces the cost to a certain extent.

Abstract: An impact protection controller for an electric height-adjustable desk. The controller comprises an MCU, a motor drive circuit, a motor current sampling circuit, a current amplifier circuit, a Hall pulse generator, and a Hall filter. The MCU controls the motor drive circuit. A signal transmitted by the Hall pulse generator is sent to the MCU via the Hall filter. A motor current is sampled by the motor current sampling circuit, and the result is sent to the MCU via the current amplifier circuit to detect a change of the current. The controller further comprises a shock switch provided outside of and connected to the MCU, or provided inside of the MCU. The present invention combines current detection and shock detection to improve sensitivity and reliability of impact protection.

Abstract: A robot includes a robot arm, a force sensor that is provided on the robot arm, and a processor that is configured to execute computer-executable instructions so as to control the robot and process a sensor output of the force sensor. The processor is configured to: set an offset calculation period after resetting the force sensor; and perform an offset calculation operation for calculating a value based on the sensor output during the offset calculation period as an offset and a correction operation for subtracting the offset from the sensor output at the time of force detection after the elapse of the offset calculation period.

Abstract: A method of controlling a positioning control apparatus includes the steps of: deriving a predetermined relational expression in advance; detecting the pressing force during machining by a force sensor; calculating the sideslip amount corresponding to the pressing force detected by the force sensor, in accordance with the predetermined relational expression at any time; correcting a position command value of an arm tip of the positioning control apparatus based on the calculated sideslip amount; and machining the workpiece while moving the arm tip of the positioning control apparatus in accordance with the corrected position command value.

Abstract: Provided is a controller of a robot manipulator, a performance analysis method thereof and a parameter determination method thereof. The controller computes an error value of an output value of a control target for a target value through a computational equation and provides a control input value of the control target, and includes an outer loop controller which constitutes closed loop control of the control target, and an inner loop controller which performs feedback linearization to remove nonlinearity of the control target, wherein the computational equation is a linear differential equation designed considering exogenous disturbance acting in the controller and a computational error.

Abstract: A robot control device includes: a processor that is configured to execute computer-executable instructions so as to control a robot, wherein the processor is configured to: receive a first instruction from an operation device; display information regarding a target vibration frequency of a robot obtained based on vibration data indicating vibration of the robot in a certain time section on a display, when the processor receives the first instruction; set the target vibration frequency; generate a second control signal obtained by reducing the target vibration frequency from a first control signal based on the set target vibration frequency; and generate a driving signal to drive the robot based on the second control signal and output the driving signal.

Abstract: The present invention is suitable for easily properly setting control parameters in short time. The simulation device of the present invention comprises: a frequency response function computing part (53) computing a frequency response function according to a first command value and a measured value of a mechanical system; an impulse response computing part (41) computing an impulse response by performing inverse Fourier transform on the frequency response function obtained according to the frequency response function and the control parameters; and a time response outputting part (44) executing time response simulation of the mechanical system (7) according to a second command value and the impulse response.

Abstract: The present invention easily displays a frequency response and a time response to a user. The simulation device of the present invention comprises: a frequency response function computing part (53) computing a frequency response function according to a measured value of a response of a mechanical system (7), a time response outputting part (44) executing time response simulation, a frequency response outputting part (45) outputting a frequency response characteristic and a display control part (26) displaying the time response simulation and frequency response characteristic simultaneously or selectively.

Abstract: An information processing apparatus includes a first emulator that estimates a behavior of a device for driving a first control target that moves on a first target trajectory and a second emulator that estimates a behavior of a device for driving a second control target that moves on a second target trajectory. A visualization module generates drawing data for visualizing and drawing movement of the first control target and movement of the second control target in a three-dimensional virtual space by using a first command value and a second command value. The first and second emulators calculate the first command value and the second command value that control first and second driving devices in each control cycle according to a calculation command respectively. The calculation command instructs to calculate the command value for setting a movement amount in each control cycle variable.

Abstract: A robot arm comprising a number N of actuator-drivable joint connections GVn, which are connected in series via arm links GLi, where n=1, 2, . . . , N, and i=1, 2, . . . , N?1, and N?6, wherein the robot arm is configured in such a way that the axes of rotation RGV,N-2 and RGV,N-1 of each of joint connections GVN-1, GVN-2 intersect at an angle in the range from 50 to 130°, an axis of rotation RGV,N of joint connection GVN, is arranged radially at a constant distance D1 from the axis of rotation RGV,N-1, and a sensor is present in the joint connection GVN-1 to detect a force or a torque about the axis of rotation RGV,N-1.

Abstract: A diagnostic device is to be used for a link actuation device. A distal end side link hub to be coupled to a proximal end side link hub via three or more link mechanisms such that posture of the distal end side link hub is changeable. Each of the three or more link mechanisms is to be associated with a respective one of actuators. A predetermined action is to be carried out under a predetermined condition by driving each of the actuators. A preload applicator is to cause a preload to be applied to the link actuation device. A torque detector is to detect a drive torque of each of the actuators while a preload is being applied. A determiner is to determine whether or not the torque that is detected by the torque detector lies within a predetermined range. A notifier is to notify the determination result.

Abstract: A method for automatically ascertaining an input command for a robot, wherein the input command is entered by manually exerting an external force onto the robot. The input command is ascertained on the basis of the joint force component attempting to cause a movement of the robot in only one robot joint coordinate sub-space which is specific to the input command. The joint forces are imprinted with the external force.

Abstract: A power amplifier includes a signal input unit to which an input signal is applied, an output stage that is electrically isolated from the signal input unit, where the output stage is configured to amplify an output signal of the signal input unit based on a power supply voltage from a floating power supply, a reference potential switch that is inserted between a reference node of the power supply voltage generated by the floating power supply and a reference potential line, and a feedback circuit configured to amplify a differential voltage between an output node of the output stage and the reference node, and feed the resultant voltage back to the signal input unit.

Abstract: A surgical system includes methods and systems for damping vibrations. The surgical system can include one or several moveable set-up linkages. A passive, active, or semi-active damper can be connected with one or several of the set-up linkages. The damper can mitigate a vibration arising in one of the set-up linkages and the damper can prevent a vibration arising in one of the linkages from affecting another of the set-up linkages. The active and semi-active dampers can be controlled with a feedback or a feed-forward model. In some embodiments, the system includes a first link supported by a base, a second link, a damper having a variable portion coupling the first link to the second link, and a processor. The processor is configured to detect a movement or a vibration of the second link and adjust the variable portion of the damper based on the detected movement or vibration.

Abstract: An external force torque due to a collision as a collision torque estimation value is estimated by subtracting a dynamic torque obtained by an inverse dynamic calculation of a robot from a torque output to a gear reducer by a motor. It is determined that the robot receives an external force if the collision torque estimation value is greater than a predetermined collision detection threshold.

Abstract: Disclosed are a motor control system and a motor control method that allow the balance of evaluation values in a trade-off relationship to be easily adjusted. The motor control system includes: an inverter (5) that applies AC voltage to a motor (1); a control unit (3, 4) that generates a voltage command for AC voltage in response to a control command; and a feedback unit (6, 7, 8) that applies a correction value to the control unit. The feedback unit estimates a plurality of evaluation values from a state quantity using a plurality of regression formulas, where at least one state quantity (x1, x2) of the motor is an input variable and a plurality of evaluation values (y1, y2) of the motor or a motor-driven object (2) are output variables, calculates an evaluation function with the estimated plurality of evaluation values as arguments, and generates a correction command on the basis of a calculation value resulting from the evaluation function.

Abstract: When performing dynamics calculation based on a dynamics model formulated by combining many components, it is an object of the present invention to perform accurate dynamics calculation without increasing a processing load. Regarding components connected through a movable axis, components connected through one or more fixed axes moving dependently on a movement of the components are combined to generate one component body connected to the respective components through the movable axis. A model for dynamics calculation is formulated using a component body combining the component and the component and a component body combining the component and the component, and dynamics calculation is performed based on the model for dynamics calculation. It is thereby possible to perform dynamics calculation with high accuracy without increasing a processing load even when using a dynamics model formulated by combining many components.

Abstract: A method, device, and computer program product for compensating robot movement deviations caused by a gear box as well as to a robot arrangement including such a device. The device has a drift estimating block configured to obtain motor data ({dot over (q)}r) and motor torque data (?) related to the motor, determine a measure of the temperature of the gear box based on the motor data ({dot over (q)}r) and motor torque data (?) and estimate the drift (?q) based on a drift value of the robot section, the drift value in turn being obtained based on the gearbox temperature measure and a gravitational torque (?grav) of the motor, and a drift adjusting block (44) configured to adjust a control value (qr) used to control the positioning of the robot based on the estimated drift (?q).

Abstract: A servo control system including a servo motor, a driven member driven, a coupling mechanism coupled with the servo motor and the driven member, and a motor control part controlling the servo motor. The motor control part includes a position command generating part generating a position command value of the driven member, a force estimating part estimating the drive force acting on the driven member, a compensating part compensating the position command value based on the drive force estimated by the force estimating part, and a control signal output part outputting a control signal to the servo motor based on a position command value compensated by the compensating part.

Abstract: A robot comprising: a base; an articulated arm extending distally of the base and including two arm members coupled by a joint; a motor; a gearbox having an input shaft coupled to an output of the motor and an output shaft configured to drive relative motion of the arm members about the joint; a position sensor configured to sense relative position of the arm members about the joint; and a control system coupled to the arm configured to drive the motor, the control system being arranged to perform a calibration operation to estimate torque loss in the gearbox by the steps of (i) estimating the inertia of the portion of the arm distal of the joint for motion about the joint; (ii) applying a determined drive power to the motor; (iii) receiving from the position sensor position data indicating the motion of the arm in response to the applied drive power; and (iv) estimating the torque loss in the gearbox in dependence on the estimated inertia, the determined drive power and the position data.

Abstract: A servomotor control device that performs static friction correction for a servomotor, including: a position control loop for feedback controlling a position of a servomotor; a speed control loop for feedback controlling speed of the servomotor; a position command creation part that creates a position command value for the servomotor; a stop determination part that determines whether or not the servomotor is stopped; a static-friction correction amount calculation part that calculates a static-friction correction amount of the servomotor; and a static-friction correction amount modification part that performs a predetermined modification on the calculated static-friction correction amount, in a case of the servomotor stopping, and then starting to operate in the same direction as prior to stopping.

Abstract: A servomotor control device includes: a servomotor, detection unit, driven body, connection mechanism, and motor control unit, in which the motor control unit includes: a force estimation section that estimates a drive force acting on the driven body at a connection part between the connection mechanism and the driven body; a correction amount generation section that generates a correction amount for correcting the position command value, based on the drive force estimated and a constant for correction; and a rigidity estimation section that gradually increases the constant for correction in a state suspending generation of the position command value, and estimates a magnitude of rigidity of the connection mechanism based on the constant for correction when a variation point occurs in behavior of rotation position information of the servomotor detected, drive force estimated, or correction amount generated.