A control device includes a processor wherein the processor is configured to: receive designation of one or more frequency components, generate one or more second control signals obtained by reducing at least one of the frequency components from a first control signal, generate one or more third control signals obtained using two control signals among the first control signal and the one or more second control signals, output one control signal among the first control signal, the one or more second control signals, and the one or more third control signals, and generate and output a driving signal to drive a robot based on the one control signal.

A vibration control device moves an object by controlling an actuator. The vibration control device controls a position and speed of the actuator, generates a model by modeling the object; and calculates an inverse system output based on the model and the control to provide positive feedback of a position of the object based on the inverse system output.

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.

A robot system includes a robot mechanism unit provided with a sensor and a motor encoder for detecting a position of a control target, and a robot control device which controls an operation of the robot mechanism unit in accordance with an operation program, in which a learning control unit includes a position error estimating section which estimates low-frequency components in a position error, based on information from the motor encoder and estimates high-frequency components in the position error, based on information from the sensor.

A control device includes a second-control-signal generating section configured to reduce a predetermined frequency component from a first control signal for performing operation for moving a movable section of the robot to generate a second control signal and a storing section having stored therein reference information including information concerning combinations of ranges of positions of a control point of the robot and frequencies. The second-control-signal generating section determines, based on a position of the control point of the robot in the operation, with reference to the reference information, a frequency component to be reduced from the first control signal.

A robot system includes a work apparatus, a robot, and control circuitry. The work apparatus is configured to move a work module relatively to the work apparatus. The work module is configured to perform work. The work apparatus is connected the robot. The control circuitry is configured to control the robot to move so as to reduce a force generated by moving the work module by the work apparatus.

The present invention is a control device which includes a filter unit for performing an attenuation process at a predetermined frequency on a control input based on a predetermined target command, generates the control input through model predictive control executed by a model predictive control unit and causes an output of a predetermined control object to follow the predetermined target command. A prediction model defines a correlation between the control input and predetermined extended state variables including a state variable related to a predetermined control object and a predetermined filter state variable related to the filter unit, and a predetermined evaluation function for model predictive controls configured to calculate a state quantity cost that is a stage cost with respect to state variables except the predetermined filter state variable among the predetermined extended state variables, and a control input cost that is a stage cost related to the control input.

A robot includes a base, a first arm that rotates around a first rotation axis, a second arm that rotates around a second rotation axis extending in a direction different than the first rotation axis, a third arm that rotates around a third rotation axis extending in a direction parallel to the second rotation axis, a first inertia sensor at the first arm, a second (a) inertia sensor at the third arm, a first angle sensor at a first drive source, a third angle sensor at a third drive source, and the drive sources rotate the respective arms. Angular velocities from the first inertia sensor and the first angle sensor are fed back to a first drive source control unit. Angular velocities from the second (a) inertia sensor and the third angle sensor are fed back to a second drive source control unit.

A robot apparatus is provided on a stand and includes a control apparatus that controls the robot apparatus. The control apparatus calculates vibration generated on the stand based on model data of the stand and trajectory data of an operation of the robot apparatus and corrects the trajectory data based on the vibration.

a speed reducer angular transmission error identification system including a variation data acquisition unit that acquires first variation data indicating a periodic variation of an operation of a second joint caused by a first motor's angular transmission error when a first joint control unit rotates a first motor's output shaft in a first direction at a constant first target speed and a second joint drive unit rotates an output shaft of a second motor at a constant second target speed, second variation which is data indicating a periodic variation of an operation of second joint caused by the first motor's angular transmission error when the first joint control unit rotates the first motor's output shaft in a second direction at the constant first target speed and the second joint control unit rotates the second motor's output shaft at the constant second target speed.