A control device controlling a robot including a driving unit, a moving unit that is slidable along a predetermined track and a predetermined shaft that is slidably supported by the moving unit includes an instruction value calculating unit calculating an instruction value that drives the driving unit such that the moving unit is moved to a target position, an accelerating-speed calculating unit calculating an angular accelerating speed of when the instruction value changes, a gravity-center distance calculating unit calculating a gravity center distance, a correction instruction-value calculating unit calculating a correction instruction value by correcting the instruction value such that a position of the gravity center which is projected on the predetermined track approaches the target position, and a driving control unit controlling the driving unit based on the correction instruction value.

A control system that mitigates stick-slip vibrations at higher harmonics than currently available is disclosed. A controller of a top drive is set to a torque control mode instead of a speed control mode. The controller receives torque measurements and compares to a target torque value. The controller accelerates or decelerates the top drive by a generated current adjustment command. A slow integration speed control loop, at least an order of magnitude slower in response than the torque control loop, receives a RPM set point. The slow integration speed control loop compares the RPM set point to an actual RPM measurement and generates a torque command. The torque command is sent to the torque control loop which results in an acceleration or deceleration of the top drive to maintain a desired torque amount. The speed of the top drive is bounded by a speed limit control loop.

The present disclosure relates to an active vibration reduction device and method of a machine tool, and more specifically, to an active vibration reduction device and method of a machine tool wherein vibration generated from an individual unit is automatically and actively reduced in real time by changing and generating excitation opposite to vibration data of the individual device in real time in an excitation unit.

A control unit controls a vibrator of a haptic device. The control unit includes a CPU as an execution unit and a storage. The storage stores correlation data created by correlating multiple vibration modes and specifying information to each other. The vibration modes are used for presenting a tactile/force sense in accordance with a rehabilitation pattern. The specifying information is used for specifying a rehabilitation pattern. The CPU executes obtaining processing, mode selection processing, and driving processing. In the obtaining processing, based on the correlation data, the CPU selects a vibration mode in accordance with specifying information obtained in the obtaining processing. In the mode selection processing, based on the correlation data, the CPU selects a vibration mode in accordance with specifying information obtained in the obtaining processing. In the driving processing, the CPU drives the vibrator by using the vibration mode selected in the mode selection processing.

A control unit includes a CPU as an execution unit and a storage. The storage stores vibration mode data indicating multiple vibration modes used for rehabilitation. The storage stores model data which determines a learning model. A body condition variable indicating body information of a user is input into the learning model and a mode variable is output from the learning model. The mode variable indicates a pattern of a vibration mode that represents a tactile/force sense to output from a haptic device. The model data is learned data obtained by machine learning. In obtaining processing, the CPU obtains multiple body condition variables of the user. In mode selection processing, the CPU selects a specific mode, based on mode variables output by using the multiple body condition variables obtained in the mode obtaining processing as input variables. In driving processing, the CPU drives a vibrator by using the specific mode.