A motor control method that can suppress a mover from vibrating when the mover is stopped is provided. A motor control method includes a command step of generating and outputting a second operation command for operating motor, based on the vibration cycle of mover and on the timing when the operation of motor based on the first operation command for operating motor that moves mover ends, and a drive step of generating and outputting a drive signal for operating motor based on the first operation command and the second operation command.

A servomotor control device includes a servomotor, driven body, connection mechanism, first position detection section, second position detection section, and motor control unit. The motor control unit has: a dual position control section that performs semi-closed FB control based on a high-frequency component of a first deviation between a position command value and the position of the servomotor detected by the first position detection section, and full-closed FB control based on a low-frequency component of a second deviation between the position command value and the position of the driven body detected by the second position detection section; an acquisition section that acquires a magnitude of rigidity of the connection mechanism; and a varying section that varies a proportion of the semi-closed FB control to full-closed FB control in the dual position control section, in response to the acquired magnitude of rigidity of the connection mechanism.

A positioning control device of an actuator provided with a strain wave gearing has a full-closed control system for feeding back a position of a load shaft, and driving and controlling a motor so as to position the load shaft at a target position. The full-closed control system has an H compensator designed so that, when a generalized plant having angular transmission error in the strain wave gearing as a disturbance input is assumed, an H norm of a transfer function from the disturbance input of the generalized plant to an evaluation output is a predetermined value or less. Mechanical vibration during positioning response caused by angular transmission error in the strain wave gearing can be reliably suppressed.

A method for reducing kinematic error in a joint includes providing an acceleration sensor; selecting a trajectory to be followed by the acceleration sensor; estimating expected acceleration values the sensor will experience along the trajectory; outputting initial commands for moving the sensor along the trajectory; obtaining corrected commands by adding to a parameter specified in an initial command a kinematic error correction and inputting the corrected commands into a joint controller; recording acceleration values to which the sensor is subject while moving according to the corrected commands; judging whether a deviation between the expected acceleration values and the recorded acceleration values exceeds a predetermined threshold, and when the deviation is judged to exceed the threshold, modifying the kinematic error correction so as to reduce the deviation.

A method includes providing a kinematic correction, outputting a first drive control signal specifying a motor speed having a first kinematic correction output based on a first parameter vector; extracting a frequency component and determining a first feedback vector; outputting to the motor a second drive control signal specifying a motor speed as a sum of the standard speed and a second kinematic correction output based on a second parameter vector; extracting a frequency component and determining a second feedback vector defining a second feedback amplitude and a second feedback phase; subtracting the first feedback vector from the second feedback vector to obtain a feedback difference vector; transforming the feedback difference vector into a difference; applying the transformation to the second feedback vector to obtain a third parameter vector; and programming the kinematic correction generator using the third parameter vector.

A method includes determining a movement of a robot arm in which a joint while being rotated from a start angle to an end angle, is subject to a constant gravity-induced torque; controlling execution of the movement, and, in the movement, controlling the joint to rotate from the start angle to the end angle at a constant speed; detecting speed fluctuations of the joint while it is being rotated from the start angle to the end angle; and estimating the kinematic error based on the speed fluctuations.

Means for achieving a new object which is reduction of jitter in position data which may be caused while a motor mechanically coupled to an encoder is stopped is provided. A control device includes an obtaining unit configured to obtain position data from an encoder, a smoothing unit configured to smooth the position data from the encoder, a state detector configured to detect an operating state of the motor mechanically coupled to the encoder, and an output unit configured to output the position data from the encoder every control cycle. The output unit is configured to output the position data from the encoder as it is while the motor is operating and to output the smoothed position data while the motor is stopped.

A motor control method that can suppress a mover from vibrating when the mover is stopped is provided. A motor control method includes a command step of generating and outputting a second operation command for operating motor, based on the vibration cycle of mover and on the timing when the operation of motor based on the first operation command for operating motor that moves mover ends, and a drive step of generating and outputting a drive signal for operating motor based on the first operation command and the second operation command.