A numerical control device includes—a screen processing unit that divides a waveform of a commanded oscillatory movement quantity specified by a vibration cutting command and a waveform of an actual position detected by detectors, into sections each corresponding to a unit time, and this screen processing unit displays, on a display unit, an n-th commanded oscillation waveform, which is an n-th waveform of the commanded oscillatory movement quantity; an (n+1)-th commanded oscillation waveform, which is an (n+1)-th waveform of the commanded oscillatory movement quantity; an n-th actual position waveform, which is an n-th waveform of the actual position; and an (n+1)-th actual position waveform, which is an (n+1)-th waveform of the actual position, being superimposed on one another along a time axis, where n is a natural number.

An adjustment method includes (a) causing a robot to execute an adjustment operation using candidate values of operation parameters and acquiring a measurement result of a sensor, (b) updating the candidate values of the operation parameters by executing optimization processing for the operation parameters using the measurement result, and (c) determining adjustment values of the operation parameters by repeating (a) and (b) until the optimization processing converges.

A method for reducing vibration of a robot arm includes: a step of mounting at least one inertia actuator and at least one vibration signal capturing unit to a processing end of a robot arm; a step of applying the at least one vibration signal capturing unit to detect a vibration generated at the processing end of the robot arm so as to generate a vibration signal; a step of applying a central processing unit to evaluate the vibration signal and coordinates of the processing end of the robot arm so as to capture at least one set of corresponding control parameters for calculating at least one output force; and, a step of having the inertia actuator to apply the output force to the processing end of the robot arm for counteracting the vibration at the processing end of the robot arm.

Vibration instruction data transmitted from another apparatus is received, data related to the vibration instruction data is stored in a memory, and a vibration apparatus is vibrated using the data stored in the memory. On the other hand, vibration state data indicating a vibration state of the vibration apparatus is generated, and the vibration state data is transmitted to the other apparatus.

A mobile manipulator includes a moving apparatus, a manipulator that is connected to the moving apparatus, a controller configured to control the moving apparatus and the manipulator, and an environment acquisition sensor configured to acquire predetermined environmental data originating from an environment at the movement destination to which the mobile manipulator is moved by the moving apparatus in association with a position at the movement destination, and the controller controls at least one of the moving apparatus and the manipulator based on the environmental data.

A vibration suppression device that suppresses vibration of an operation unit in a mechanical system having a natural vibration mode including the operation unit, an actuator unit that operates the operation unit, and an elastic body that couples the operation unit and the actuator unit, the vibration suppression device including a generation means for generating a drive signal for driving the actuator unit, an estimation means for estimating a measurement amount related to the mechanical system, a correction means for correcting the drive signal generated by the generation means on the basis of the measurement amount estimated by the estimation means, and a change means for changing a gain used by the estimation means so that an influence of an increase in a modeling error becomes small in a period in which the modeling error of the mechanical system increases.

A control apparatus that controls a robot system including a part feeder having a container that accommodates a part and a plurality of vibration actuators for vibrating the container, and a robot having an end effector for picking up a part from the container, the apparatus comprising: a processor that is configured to execute computer-executable instructions so as to control the part feeder and the robot, wherein the processor is configured to select one or more control commands from a plurality of control commands respectively including control parameters of the plurality of vibration actuators and transmits the selected control command to the part feeder for causing the part feeder to perform an operation according to the selected control command.

In the present invention, an image of a verification target medicine disposed on an arrangement unit is captured, prescription condition information indicating a prescription condition is acquired, an external force application unit is caused to execute an external force applying operation of applying an external force to the medicine disposed on the arrangement unit to move the medicine when an operation execution condition is satisfied, wherein the operation execution condition includes at least one of: a first operation execution condition that the number of the verification target medicines appearing in the image differs from the quantity of the medicines specified from the prescription condition information; and a second operation execution condition that a shape of the verification target medicine appearing in the image differs from a shape corresponding to a type of the medicine specified from the prescription condition information.

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 servo control device for controlling an end effector of a machine to follow a set reference trajectory by driving the machine using an actuator includes a feedforward compensation unit that performs feedforward compensation by outputting a feedforward signal for controlling the actuator on the basis of a position command signal inputted thereto, wherein input-output characteristics represented in a continuous-time system of the feedforward compensation unit are expressed by a transfer function having unstable zeros, and a step response of the feedforward compensation unit has an initial undershoot.