A numerical control device includes a phase-difference calculation unit that, when machining with vibrations is performed on a movement path, calculates a phase difference between a vibrational forward-moving position and a vibrational backward-moving position from a vibration amplitude-to-feed ratio between amplitude of the vibrations and a feed speed of a tool to a workpiece, a movement-path generation unit generating the vibrational forward-moving position and the vibrational backward-moving position as the movement path for each drive shaft by using the phase difference, a vibration-waveform generation unit generating a reference vibration waveform to be superimposed on the movement path for each drive shaft by using vibration conditions, a vibrational-movement-amount generation unit calculating a vibrational-movement amount on the movement path for each drive shaft by using the reference vibration waveform, and a movement-amount combining unit generating a combined movement amount for each drive shaft by adding the vibrational-movement amount to the movement path.

A numerical controller of the present invention is provided with an oscillating motion data holding unit configured to hold oscillating motion data used for the control of an oscillating motion, an oscillating pulse calculation unit configured to calculate oscillating pulses used for the control of an oscillation axis, based on the oscillating motion data held in the oscillating motion data holding unit, and output the calculated oscillating pulses, a motor control unit configured to control a motor for driving the oscillation axis, based on the oscillating pulses, and an oscillating motion data calculation unit configured to determine a data item related to the oscillating motion to be adjusted, based on the state of a switch means on a control panel of a machine, and to adjust the value of the data item related to the oscillating motion, based on manual pulses input from a manual pulse generator.

This control device (10) for compensating for the elastic deformation of an articulated robot is configured from a joint angle command value calculation unit (100), an axial force torque calculation unit (200), a first dynamic characteristic computing unit (300), a feedback control unit (500), and a motor angle command value calculation unit (600). The first dynamic characteristic computing unit (300) is configured from an interpolation unit configured from an N-ary curve interpolation, and a filter unit configured from an M-ary filter, with N+M being at least 4.

A control device for a machine tool for cutting a rotationally-symmetric workpiece by a tool, includes a machining command making unit for making a machining command for an auxiliary motor based on rotation speeds of the workpiece and the tool, and feed rates of the tool and the workpiece, an oscillation command making unit for making an oscillation command for the auxiliary motor, based on the rotation speeds and the feed rates, so that the oscillation command is asynchronous with the rotation speed of the workpiece around the axis of rotation, and so that the tool intermittently cuts the workpiece, an addition unit for adding the oscillation command to the machining command, and a control unit for controlling the auxiliary motor based on the machining command to which the oscillation command has been added.

A device includes: a weaving signal generation unit that generates a weaving signal for causing a robot to swing a tool; a chronological data acquisition unit for acquiring chronological data of the amplitude value of the tool when the robot is caused to execute a weaving motion according to the weaving signal; a frequency characteristic acquisition unit for acquiring a first frequency characteristic of chronological data; a resonance determination unit for determining, on the basis of the first frequency characteristic, whether or not the robot is resonating at the frequency of the weaving signal generated by the weaving signal generation unit; and a correction unit for correcting the weaving signal so as to change frequencies if the robot is determined to be resonating.

The present invention provides a technology that can reduce a shock of a machine tool caused by a sharp change in acceleration at the time of oscillation mode switching in oscillation machining. A motor control device 1 comprises: an oscillation command calculation unit 12 that calculates an oscillation command from a movement command and an oscillation condition; an oscillation mode switching determination unit 32 that determines a timing of finishing the oscillation or switching a machining path; a filter time constant/application time setting unit 31 that sets a time constant and an application time to of a filter; a filter coefficient calculation unit 33 that calculates a filter coefficient K on the basis of the time constant set by the filter time constant/application time setting unit 31; and a filter application unit 34 that applies a filter having the filter coefficient K to a command for driving a motor 2 during the application time to when the oscillation mode switching determination unit 32 determines that the switching timing has been reached.