Abstract: A movable support is configured to hold an exchangeable object. The support includes a movable structure movably arranged with respect to a reference object, an object holder movably arranged with respect to the movable structure and configured to hold the exchangeable object, an actuator configured to move the movable structure with respect to the reference object, and an ultra short stroke actuator configured to move the object holder with respect to the movable structure, wherein a stiffness of the ultra short stroke actuator is substantially larger than a stiffness of the at least one actuator.

Abstract: A current switching pulse servo including a motor, an output gear, a pulse pattern plate, and a first conductor. The motor is configured to drive a gear train of the servo. The output gear is configured to be driven by the gear train. The pulse pattern plate includes conductive portions and nonconductive portions. The pulse pattern plate is configured to rotate with the output gear. The first conductor connects the motor to the pulse pattern plate to conduct current from the motor to the pulse pattern plate.

Abstract: A capacitance measurement sensor, having a voltage subtractor that rejects common signals between the columns or rows of a touch sensor matrix depending on which are driven and which are being sensed, is described.

Abstract: A closed-loop control structure for positioning a load with the aid of an electric motor includes a device for the active damping of unwanted, low-frequency vibrations. The closed-loop control structure has a position controller, a speed controller, and a current controller, which together, form a cascaded control loop. Damping signals which counteract unwanted, low-frequency vibrations are applied to the control loop, at least one first and one second damping signal of different phase angle being derived from a single sensor signal, and the first damping signal being injected between the position controller and the speed controller, and the second damping signal being injected between the speed controller and the current controller.

Abstract: A positioning control system for an actuator provided with a strain wave gearing is provided with: a semi-closed feedback controller FB(s) that controls a load shaft position ?1 on the basis of a feedback motor shaft position ?m; and a feedforward linearization compensator configured by incorporating a nonlinear plant model for an object to be controlled into a feedback linearization compensator using an exact linearization technique. The feedforward linearization compensator uses a forward-calculated state quantity estimated value x* to calculate a feedforward current instruction i*ref and a feedforward motor position instruction ?*m to be input into the feedback controller FB(s). A positioning error caused by a non-linear element (non-linear spring property, relative rotational synchronization component, and non-linear friction) of the strain wave gearing is compensated for by the feedforward linearization compensator.

Abstract: A controller for a substrate transport apparatus. The controller includes a first system and a second system for at least partially controlling a movement of a motor of the substrate transport apparatus. The first system is configured to control the movement of the motor based upon a signal from a position sensor. The position sensor outputs the signal based upon a position of a rotor of the motor relative to a stator of the motor. Torque output of the motor is at least partially controlled based upon the signal from the position sensor. The second system for at least partially controlling the movement of the motor is based upon expected disturbances during movement of an arm of the substrate transport apparatus by the motor, where the second system is configured to at least partially increase and/or decrease the torque output of the motor by first system.

Abstract: A system incorporating an actuator connected to a polarity-insensitive two-wire communications bus. The actuator may have an electromechanical mover, a processor connected to the electromechanical mover, and a potentiometer, having a number of address settings, connected to the processor. A setting of the number of settings of the potentiometer may be a selection of an address for the actuator on the communications bus. There may be additional actuators and a controller connected to the communications bus. Each actuator may have an address which is different from an address of the other actuators connected to the communications bus. If an actuator is substituted with a replacement actuator, then a setting of a plurality of settings on a potentiometer of the replacement actuator may be selected to obtain an address that is the same as the address of the actuator which is substituted.

Abstract: A motor control system (10) which includes a difference calculating part (31) which calculates a difference between a first position detection value of a moving part and a second position detection value of a driven part, a judging part (32) which judges if a moving part has engaged with the driven part when the moving part is made to move from any initial position in a first and second drive directions, a holding part (33) which holds the difference as initial difference linked with the first or second drive direction, when the moving part has engaged with the driven part, and a correction amount calculating part (34) which calculates a backlash correction amount, the correction amount calculating part using the difference based on the current positions of the moving part and the driven part and the initial difference to calculate the backlash correction amount.

Abstract: An electric actuator has a motor, an electricity storing body, a switch and a resetting unit. The switch is provided in a supply path of electric power from the electricity storing body to the motor. The switch opens the supply path for electric power from the electricity storing body to the motor, in response to an instruction from an operator. The resetting unit is operated through receiving a supply of electric power from the external power supply when the external power supply has been restored from being cut off. The resetting unit closes the switch that is provided in the supply path of electric power from the electricity storing body to the motor.

Abstract: A linear electrodynamic-type motor, for compressing a fluid circulating in a cryocooler notably using a Stirling cycle, includes a translationally movable induction coil; a power-supply circuit adapted to deliver, to at least one induction coil, an AC power-supply current; a movable mass adopting a translational movement; an induction coil arranged so as to move a respective movable mass between a first position and a second position where the movable mass can compress the fluid; and a secondary circuit arranged to connect the terminals of at least one induction coil in short-circuit. The secondary circuit comprises a compensation component for producing a phase shift between the power-supply voltage and the power-supply current, so as to reduce the phase difference that the inductance of the induction coil produces.

Abstract: A system comprising an actuator and a controller configured to drive the actuator with a pulse width modulated (PWM) signal. The controller is configured to limit a duty cycle of the PWM signal in response to a current supplied by the PWM signal.

Abstract: A robot mechanism for controlling the position of a machine tool in a large-scale manufacturing assembly includes six rotary axes and one linear axis. Secondary feedback systems are included on at least several of the axes. A controller receives secondary feedback information and uses it to control the position of the machine tool within an accuracy of ±0.3 mm.

Abstract: A machine tool includes a main axis 30 to which a touch probe 17 is attached, a motor 15 that rotationally drives the main axis 30, a rotation angle position detector 16 that detects a rotation angle position of the motor 15, and a control device 20. The control device, when a measurement mode command for performing measurement of a workpiece by the touch probe 17 is input, multiplies a d-axis current command value Idc by a d-axis current correction coefficient K that is less than 1 to reduce the d-axis current command value Idc to a d-axis current command correction value Idc?, using a d-axis current command correction section 4. Thus, in the machine tool, small rotation vibrations of the main axis, generated when rotating the main axis to which the probe is attached and performing measurements of a workpiece, can be suppressed to thereby increase the measurement accuracy.

Abstract: A human-operated system comprises a positioning system and an input shaper. The positioning system moves an object from one location to another. The positioning system includes a computing device that controls the movement of the positioning system responsive to receiving a user command. The input shaper is coupled to the computing device of the positioning system. The computing device estimates an overtravel of the positioning system and determines an overtravel constraint that is factored into the movement of the positioning device. The computing device moves the positioning system based on the overtravel constraint in a manner that limits the overtravel, deflection and vibration of the object as the object is moved from one location to another. The human-operated system includes a predictive element that represents a predictor location responsive to the user command provided by the human operator, which aids the human operator position the positioning system.

Abstract: A path display apparatus includes a first position command acquiring unit that acquires first position command for motors, a first position feedback acquiring unit that acquires first position feedback of each of the motors, a correction data acquiring unit that acquires correction data generated for each of the motors, a second position command calculating unit that subtracts the correction data from the first position command to calculate a second position command, a second position feedback calculating unit that subtracts the correction data from the first position feedback to calculate second position feedback, a command path display unit that displays a command path of the tip point of the tool, based on the second position command; and a feedback path display unit that displays a feedback path of the tip point of the tool, based on the second position feedback.

Abstract: A magnetic actuator system which includes a case (10) and a spindle (22) which extends through the case comprising a magnetizable material such as iron. The actuator further includes a pair of permanent magnet assemblies (14, 16) positioned fixedly within the casing with a longitudinal space there between, wherein the permanent magnet assemblies comprise an alternating plurality of north pole/south magnet sections (18) which extend longitudinally or circumferentially of the actuator. The actuator further includes a coil winding (24) which surrounds the spindle, positioned between the two permanent magnet assemblies. Magnetic pole assemblies (28, 30) attached to the spindle are positioned within the volume encompassed by the permanent magnet assemblies, such that an alternating drive signal produces an oscillating action of the spindle of desired frequency and amplitude.

Abstract: A system comprising a motor controller for providing a plurality of first power signals and a single common second power signal to a motor module comprising a plurality of potentiometers connectable to a plurality of DC-motors. The power signals and feedback signals are sent over a wire interface having less than three wires per motor. A position feedback signal is read when a motor is being powered. The power signals may be DC-signals, pulsed or tri-state signals. The circuit may have a voltage divider consisting of two or three resistors. The actual motor position can be derived from the position feedback signals using one of two formulas or curves. A motor controller, and a method for driving a plurality of DC-motors is also disclosed.

Abstract: A motor control device includes an anomaly detection means that detects an anomaly occurring on power feeding paths of respective phases on the basis of first electric current values, second electric current values of the respective phases and a phase electric current value obtained by the first electric current values and the second electric current values. When at least one of an absolute value of the first electric current value and an absolute value of the second electric current value exceeds a first threshold value corresponding to a limit value of an electric current detection and an absolute value of the phase electric current value is smaller than a second threshold value corresponding to zero in any one phase, the anomaly detection means determines that an anomaly of an electric current sensor has occurred as regards the corresponding phase.

Abstract: An apparatus, comprises three driver FETs coupled at their sources; note-driver circuit; a first sense FET coupled to the sources of the three driver FETs; a current mirror having the first sense FET and a mirror FET; wherein the first sense FET is coupled to the mirror FET; a first transconductance amplifier coupled to the first sense FET; a second amplifier coupled to the current mirror, and an output of the first transconductance amplifier is an input to the second amplifier.

Abstract: A motor control device includes: an acceleration/deceleration processing unit that generates a servo command according to an acceleration/deceleration parameter; a servo control unit that controls a motor drive torque to drive a control target machine motor according to the servo command; a power supply unit that supplies electric power of a predetermined power supply capacity from a commercial power supply to the servo control unit; an electrical storage unit that supplies electric power supplementing the electric power; and an acceleration/deceleration parameter setting unit that computes maximum power that can be used for acceleration/deceleration based on a power storage amount in the electrical storage unit, the power supply capacity, and all energy required for acceleration, computes an acceleration/deceleration parameter that causes electric power at a time of acceleration/deceleration to be equal to or lower than the maximum power, and sets the acceleration/deceleration parameter.

Abstract: When a motor drive control device is integrated in a semiconductor integrated circuit having a small chip area, calibration for improving the accuracy of detection of a counter electromotive voltage, which is for detecting the speed of a motor, is enabled. A first multiplier performs multiplication between a drive current detection signal and first gain information in a first register. A subtractor performs subtraction between a drive voltage command signal and a first multiplication result in the first multiplier. A second multiplier performs multiplication between a subtraction result in the subtractor and second gain information in a second register to generate counter electromotive voltage information as information on a second multiplication result. The drive voltage command signal in a control unit is set to a predetermined value to generate a condition which maintains the speed of the motor and a counter electromotive voltage at substantially zero.

Abstract: A motor control apparatus that controls the rotational angle of a motor (111) which drives a rotating body (112) includes a synchronizing means (200) for generating and outputting an interrupt signal (700) based on an external reference signal (600) input from outside and a rotating body reference signal (500) generated by the rotating body, and a controlling means (300) for computing a command value for making the rotational angle of the motor follow a target rotational angle and outputting the command value to the motor each time the interrupt signal is inputted. The synchronizing means (200) changes the output period of the interrupt signal (700) in accordance with a time difference between the external reference signal (600) and the rotating body reference signal (500).

Abstract: In the case of speed-regulated high-power drives and with simultaneously high demands on accuracy or dynamics, the object of the invention is to reduce a very high level of complexity of the power electronics (high clock frequency), the motor (high precision) and mechanical transmission (low-play transmission elements). For this purpose, the invention proposes a drive device for rotational and/or t translational movements. The drive has a plurality of drives for the joint, mechanically coupled driving of a working machine or for moving a mass. It also has a control device. At least one drive is intended to provide the power (as a power drive). At least one further drive is provided and mechanically coupled as a servo-drive for controlling or regulating the accuracy and/or dynamics of the overall drive. The control device controls and regulates the at least two mechanically coupled drives.

Abstract: Provided is a sample positioning technology wherein micro-vibrations of a top table on which a sample is placed are suppressed such that the quality of an image to be observed or the precision of a measured dimension value can be improved. A sample positioning apparatus according to the present invention is provided with an active brake for stopping the top table, an inner frame which surrounds the active brake, an outer frame which surrounds the inner frame, and actuators for driving the active brake. The actuators, after driving the active brake to stop the top table with respect to a stage, press the outer frame to adjust the position of the top table.

Abstract: An integrated servo system and a method of controlling a motor is provided. The integrated servo system includes a position detector which determines original position data of a motor and a position signal processor which determines a position of the motor based on the determined position data. The integrated servo system further includes a servo controller circuit which controls the motor based on the determined position data and a parallel bus through which the determined position data is transmitted from the position signal processor to the servo controller circuit.

Abstract: To stably control a driving object to approach and contact a pressure object at a low impact, to suppress a vibration generated when the driving object presses the pressure object, and to enable a motor controller to operate based on a simple command, a regression torque controller of the motor controller limits a torque-control velocity command to up to a velocity limit value vlim defined based on a contact velocity between a driving object and a pressure object and outputs the torque-control velocity command, and a velocity controller of the motor controller calculates a torque command so that a motor velocity can follow the torque-control velocity command output from the regression torque controller.

Abstract: An electric motor system includes a brushless direct-current motor, a driver circuit, a position sensor, and a control circuit. The motor has an output shaft for transmitting torque. The driver circuit supplies power to the motor according to a control signal input thereto. The position sensor measures an angular, rotational position of the motor shaft. The control circuit controls operation of the motor. The control circuit includes a position sensor terminal, a reference terminal, a differential calculator, a controller, and a gain adjuster. The position sensor terminal receives a feedback signal. The reference terminal receives a reference signal. The differential calculator generates an error signal representing a difference between the measured and targeted rotational positions. The controller generates the control signal based on the error signal through a combination of control actions. The gain adjuster is connected to the controller to adjust a gain of each control action.

Abstract: Methods and systems of processing sensor signals to determine motion of a motor shaft are disclosed. This disclosure relates to the processing of sequences of pulses from a sensor for computing the motion of an electric motor output shaft. Furthermore, this disclosure relates to the processing of two sequences of pulses from sensor outputs, which may be separated by only a few electrical degrees, to compute the motion of an electrical motor output shaft while using a limited bandwidth controller. Motor shaft direction, displacement, speed, phase, and phase offset may be determined from processing the sensor signals.

Abstract: A semiconductor integrated circuit device has a p-type substrate to which a ground voltage is applied and a floating-type NMOSFET which is integrated on the p-type substrate and to which a negative voltage lower than the ground voltage is applied. The floating-type NMOSFET includes an n-type buried layer buried in the p-type substrate, a high voltage n-type well formed on the n-type buried layer and floats electrically, a p-type drift region formed in the n-type well, an n-type drain region and an-type source region formed in the p-type drift region, and a gate electrode formed on a channel region interposed between the n-type drain region and the n-type source region. The high voltage n-type well includes an n-type tunnel region, with a higher impurity concentration than that of the high voltage n-type well, inside a peripheral region formed so as to surround the p-type drift region.

Abstract: A latch mechanism selectively retains a first assembly to a second assembly. The first and second assemblies are configured for sliding engagement along an engagement axis. The latch mechanism includes a latch shaft mounted to the first assembly to rotate about a latch shaft axis, a torsion spring to bias the latch shaft relative to the first assembly, and a transverse latch member coupled with the second assembly. The latch mechanism is configured to automatically latch in response to the first assembly being pushed toward the second assembly. The transverse latch member interacts with the latch shaft to rotate the latch shaft in a first direction in response to movement of the first assembly toward the second assembly. Further motion of the first assembly toward the second assembly results in rotation of the latch shaft opposite to the first direction into a retention configuration that retains the transverse latch member.

Abstract: A smart responsive electrical load (10) is operatively connectable to an electricity supply network (20). The smart responsive electrical load (10) comprises an electrical power-consuming device (30) and a control arrangement (40) for controlling a supply of electrical power from the network (20) to the device (30). The control arrangement (60, 110, 150, 160, 170) is operable to impose a variable time delay (tp) before supplying electrical power to the device (30) after a request for power to be provided to the device (30). The variable time delay (tp) is a function of a state of the network (20), for example its frequency (f) and/or its voltage amplitude (V). Optionally, the device (30) is a battery charger, for example for use with a rechargeable electric vehicle. Beneficially, the smart responsive load (10) is supplied with electrical power from a population of micro-generation devices (500) operable to provide supply network response.

Abstract: A drive control device having: a storage circuit configured to store a reference rotational speed table; a drive signal generation circuit configured to output a drive signal to the direct current motor; and a control circuit. When an absolute value of a difference between a second rotational speed corresponding to a first rotational direction and a third rotational speed corresponding to a second rotational direction is equal to or larger than a predetermined threshold, the control circuit creates separate rotational speed tables for the first rotational direction and the second rotational direction in which each rotational speed table indicates a relation between a rotational speed and an electric power amount per unit time, and determines an amount of electric power that is supplied to the direct current motor which corresponds to a designated rotational speed according to the rotational speed table selected in accordance with a designated rotational rotation.

Abstract: There are provided: a plurality of notch filters which are arranged inside a control system for feedback-controlling a moving operation of a moving section of a motor and attenuate signal components having near frequencies with a notch frequency at a center in an input signal; a plurality of oscillation extracting filters which are set with different frequency bands as being corresponded to the respective notch filters and extract oscillating components in the set frequency bands from a speed detection signal; and a plurality of notch controlling sections which are arranged with respect to the respective oscillation extracting filters and control the notch frequencies of the corresponding notch filters so as to decrease amplitudes of the oscillating components extracted by the oscillation extracting filters.

Abstract: A synchronous control apparatus capable of switching cam curves with ease and without delay is provided. A cam curve storing unit stores a representation of a first cam curve and a representation of a second cam curve. Before switch-over of the cam curves, a control unit finds a position command value to a driven-side member, after the switch-over of the cam curves, the control unit finds the position command value, and in a switch-over period of the cam curves, the control unit finds the position command value to the driven-side member based on a value obtained by utilizing first data based on the first cam curve or a position of the driven shaft and second data based on the second cam curve to provide a weighted average at each control timing.

Abstract: An improved technique for controlling an electro-mechanical actuator combines a sliding mode of control with a second mode of control. An error signal is generated based on the difference between an input position signal and a feedback position signal. When the error signal is above a predetermined threshold, the actuator is controlled in the sliding control mode. When the error signal is below the predetermined threshold, the actuator is controlled in the second control mode. The combination of the sliding control mode with the second control mode yields a robust controller that can tolerate large parameter variations and uncertainties without sacrificing precise steady state tracking.

Abstract: A servo controller, capable of controlling the motion of a movable body with high accuracy, without depending on the position of the movable body which is moved on a ball screw. The servo controller has a position command generating part which generates a position command value; a velocity command generating part which generates a velocity command value based on the position command value and a position detection value; a torque command generating part which generates a torque command value based on the velocity command value and a velocity detection value; and a position compensation calculating part which calculates an amount of expansion/contraction of the ball screw based on a distance from the servomotor to a nut threadably engaged with the ball screw and the torque command value, and calculates a position compensation based on the amount of expansion/contraction.

Abstract: Reflected light can be effectively utilized by increasing a light receiving area. Incremental light receiving element groups are separated and arranged in the circumferential direction of a rotating unit while placing a light source therebetween. First and second absolute light receiving element groups are arranged at both sides of the outside and inside of the light source in the radial direction of the rotating unit. As a result, first and second absolute light receiving elements are continuously arranged, and also the incremental light receiving element groups and the absolute light receiving element groups can be arranged to surround the periphery of the light source from four directions.

Abstract: A servo control device includes a follow-up control unit that controls a control target that drives a mechanical system by a motor, a command function unit that has input therein a phase signal ? indicating a phase of a cyclic operation performed by the control target, and that calculates a machine motion command according to the phase signal ? by a preset first function, a second derivative unit that uses a second function obtained by second-order differentiating the first function with respect to the phase signal to calculate a value of the second function according to the phase signal as a second-order differential base signal, a correction-value computation unit that computes a first command correction value for correcting the motor motion command by using a product of a square value of the phase velocity, the second-order differential base signal, and a first constant, and a correction-value addition unit that calculates the motor motion command based on an added value of the first command correction val

Abstract: Systems and methods are described for providing selective biasing of a platform in context of one or more modules. While moving in the Z-direction with respect to the modules, the platform travels in an unbiased manner. For example, one or more alignment features on the platform are engaged with one or more alignment features on the modules to allow the platform to substantially float within an X-Y region defined by the alignment features. When the platform reaches its desired Z-location, magnetic features bias the platform into a substantially locked and repeatable X-Y position (e.g., using permanent magnets and/or electromagnets). In some embodiments, the platform is locked into an accurate position to allow a robotic mechanism of a storage library to move around efficiently within the modules while still being able to perform operations that involve accurate positioning (e.g., pick and place operations on media cartridges).

Abstract: A sensor suite for a vehicle, the sensor suite comprising a 3D imaging system, a video camera, and one or more environmental sensors. Data from the sensor suite is combined to detect and identify threats during a structure clearing or inspection operation. Additionally, a method for detecting and identifying threats during a structure clearing or inspection operation. The method comprises: gathering 3D image data including object range, volume, and geometry; gathering video data in the same physical geometry of the 3D image; gathering non-visual environmental characteristic data; and combining and analyzing the gathered data to detect and identify threats.

Abstract: The invention provides a position control system comprising a moving portion that is movable, a position-detection portion that detects a position of the moving portion, a drive portion that applies driving force to the moving portion thereby moving the moving portion, a control portion that controls the driving force of the drive portion, and an input portion for inputting a drive target position for the moving portion, characterized in that the control portion is operable to determine the driving force to be applied to the drive portion based on a correction coefficient acquired based on a first deviation that is a difference between the drive target position inputted into the input portion and the reference position, and a second deviation that is a difference between a position detected by the position-detection portion and the drive target position inputted into said input portion.

Abstract: A projector includes: a drive motor adapted to drive a lens unit; a control section adapted to control the drive motor; a storage section adapted to store a target position of the lens unit; and a position detector adapted to detect a present position of the lens unit, wherein if a deviation between the target position stored in the storage section and the present position detected by the position detector is equal to or larger than a predetermined value, the control section performs drive of the drive motor with feedforward control until the present position and the target position are coincident with each other, and performs drive control of the drive motor with a predetermined unit based on a deviation between a stop position by the feedforward control and the target position.

Abstract: A motor control device main unit includes a pressure command signal generation module, a pressure control module, a speed control module, and a current control module. The pressure command signal generation module of the motor control device main unit generates a pressure command value so that a derivative of the pressure command value is equal to or less than a product of an elastic constant of the pressurized target and a maximum motor speed. The pressure control module carries out pressure control calculation to calculate a motor speed command value based on a deviation between the pressure command value and an actual pressure value, and generates a motor speed command signal, which is a signal of the motor speed command value.

Abstract: An electro-mechanical linear actuator unit comprising an actuator housing that accommodates at least two electric drives, each of which, when actuated by a control device, sets an associated drive of a respective spindle drive into rotation for adjusting linear movement of the associated spindle drive in order to produce relative linear adjustment of a control rod. The two electric drives are located in the actuator housing in such manner that relative adjustment can be produced by simultaneous actuation of the two electric drives, as the sum of the adjustment movements of the associated spindle drives, or by actuating a single electric drive, as the adjustment movement of the associated spindle drive. A respective brake is provided, in an area of each of the two electric drives, which can be selectively actuated by the control device to then prevent the adjustment movement of the respective associated spindle drive.

Abstract: A sinusoidal command is added to a torque command of a controller to acquire a velocity and a current value of an electric motor. An estimated coupling torque value is calculated by calculating an input torque value from the current value and a torque constant of the electric motor and further calculating a coupling torque value from a velocity difference, motor inertia, and the input torque. An estimated torque error is then calculated from the estimated coupling torque value and the coupling torque value, and inertia, friction, and a spring constant are estimated from the estimated torque error, the velocity, and the coupling torque value.

Abstract: A motor control method comprises: inputting a PWM signal into a control unit for the control unit to obtain a direction command and a speed command by an identification rule, and generating a control signal according to the direction and speed commands by the control unit; and generating a driving signal according to the control signal by the driving unit for driving a motor to operate according to the direction and speed commands.

Abstract: A pulse motor driving circuit for driving a pulse motor includes a first switch having a terminal that is connected with a positive terminal of a power source; a second switch having a terminal that is connected with a negative terminal of the power source; and a capacitor having a terminal connected with a limit element and having another terminal connected with another terminal of the first switch and another terminal of the second switch, wherein the limit element is provided between the positive terminal and the capacitor and limits a current, wherein the first switch is turned on and the second switch is turned off in a current application start period while the current starts to be applied, wherein the first switch is turned off and the second switch is turned on in a period other than the current application start period.

Abstract: A motor control device comprises: a motor control unit that controls a motor; and a signal output unit that outputs a signal according to rotation of the motor, wherein the motor control unit controls the motor based on an output signal of the signal output unit so that a driven object driven by the motor is displaced to a target stop position. The motor control unit is configured to function as: a first control unit that estimates a upper current limit and controls the motor according to the upper current limit; a second control unit that controls motor according to an operated amount of at least one of the motor or the driven object; a switching unit that switches between the first control unit and the second control unit; a first calculating unit that calculates an amount necessary for stop; and a second calculating unit.

Abstract: A motor-control-device main unit includes a pressure-command-signal generating section, a pressure control section, a speed control section, a current control section, and a parameter-adjusting section. With respect to a parameter for a control computation by the pressure control section, the parameter-adjusting section includes an information-acquiring section and a parameter-calculating section. The information-acquiring section acquires, from an exterior, each of pieces of information including an elastic constant of a pressurized target, a reaction-force constant indicating information of a reaction force, a transfer characteristic from a motor torque to a motor speed, and parameters of the speed control section. The information-acquiring section previously acquires information of a control law of the speed control unit. The parameter-calculating section calculates a parameter for the pressure control section based on the information acquired by the information-acquiring section.

Abstract: A motion path search device which searches for a motion path of a movable part of a robot capable of being taught a motion by direct teaching in which the robot is directly moved by an operator includes: a first space identification unit which identifies a space swept through by the movable part of the robot in the direct teaching; a second space identification unit which identifies a space swept through by at least a portion of a body of the operator in the direct teaching; a space combining unit which calculates, as an accessible space, a union of the space identified by the first space identification unit and the space identified by the second space identification unit; and a path search unit which searches for a motion path of the movable part within the accessible space calculated by the space combining unit.