A controller for controlling an electric motor module equipped with incremental encoder and operation method thereof are provided. The controller includes a quadruple frequency circuit, a driver circuit, a non-volatile memory (NVM) and a multi-phase control circuit. The multi-phase control circuit can perform multi-phase control with aid of the NVM, for example: reading an offset counter value from the NVM; executing an initial angle estimation procedure, generating an initial counter value according to an estimated initial angle and the offset counter value, and starting utilizing the driver circuit to directly control the electric motor to start with the estimated initial angle and utilizing a counter to perform counting operations; calculating a counter value error and clear the current counter value to be zero; and performing compensation corresponding to a predetermined compensation times count according to the counter value error, respectively, to control the rotor to reach a target angle.

A servo amplifier including an encoder for detecting rotation of a servomotor (11), a servo amplifier (13) for performing feedback control of the rotation of the servomotor based on a count value (hereinafter referred to as an encoder value) of the encoder, and an amp control section (17) for controlling operation of the servo amplifier, wherein the amp control section sends an initialization instruction for initializing the encoder to the servo amplifier in a state of fixed cycle connection over a servo network between the servo amplifier and the encoder when an error occurs with the encoder. The servo amplifier performs initialization of the encoder without disconnecting the servo network when receiving the initialization instruction sent from the amp control section.

A servo amplifier including an encoder for detecting rotation of a servomotor (11), a servo amplifier (13) for performing feedback control of the rotation of the servomotor based on a count value (hereinafter referred to as an encoder value) of the encoder, and an amp control section (17) for controlling operation of the servo amplifier, wherein the amp control section sends an initialization instruction for initializing the encoder to the servo amplifier in a state of fixed cycle connection over a servo network between the servo amplifier and the encoder when an error occurs with the encoder. The servo amplifier performs initialization of the encoder without disconnecting the servo network when receiving the initialization instruction sent from the amp control section.

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 motor control device includes a movement command generator that outputs a movement command of a motor, a filter that performs filter processing of the movement command and outputs the filtered movement command, and a position controller that performs a position control of the motor. The filter is an infinite impulse response digital filter that is represented by a transfer function H(z): H(z)=(b0+b1.Math.z.sup.1+b2.Math.z.sup.2)/{1(a1.Math.z.sup.1+a2.Math.z.sup.2)} with filter coefficients a1, a2, b0, b1, and b2. The filter is configured to change the filter coefficient b0 in a first sample period, to change the filter coefficients a1 and b1 in a second sample period which follows the first sample period, and to change the filter coefficients a2 and b2 in a third sample period which follows the second sample period.

A motor control device includes a movement command generator that outputs a movement command of a motor, a filter that performs filter processing of the movement command and outputs the filtered movement command, and a position controller that performs a position control of the motor. The filter is an infinite impulse response digital filter that is represented by a transfer function H(z): H(z)=(b0+b1.Math.z.sup.1+b2.Math.z.sup.2)/{1(a1.Math.z.sup.1+a2.Math.z.sup.2)} with filter coefficients a1, a2, b0, b1, and b2. The filter is configured to change the filter coefficient b0 in a first sample period, to change the filter coefficients a1 and b1 in a second sample period which follows the first sample period, and to change the filter coefficients a2 and b2 in a third sample period which follows the second sample period.

The easy and quick detection of a contour shape of an object from three dimensional point group data, and control a robotic arm and a tool using it. An information processing method comprising: a step of acquiring three-dimensional point group data by a sensor from an object, a step of specifying a contour point group data that constitutes a contour of the object from the three-dimensional point group data, a step of acquiring tool control information including tool position information and tool posture information for specifying a tool trajectory of the tool connected to the arm of the working robot from the contour point group data, and a step of controlling the tool based on the tool control information.

The easy and quick detection of a contour shape of an object from three dimensional point group data, and control a robotic arm and a tool using it. An information processing method comprising: a step of acquiring three-dimensional point group data by a sensor from an object, a step of specifying a contour point group data that constitutes a contour of the object from the three-dimensional point group data, a step of acquiring tool control information including tool position information and tool posture information for specifying a tool trajectory of the tool connected to the arm of the working robot from the contour point group data, and a step of controlling the tool based on the tool control information.

A motor control device includes a movement command generator that outputs a movement command of a motor, a filter that performs filter processing of the movement command and outputs the filtered movement command, and a position controller that performs a position control of the motor. The filter is an infinite impulse response digital filter that is represented by a transfer function H(z): H(z)=(b0+b1.Math.z.sup.1+b2.Math.z.sup.2)/{1(a1.Math.z.sup.1+a2.Math.z.sup.2)} with filter coefficients a1, a2, b0, b1, and b2. The filter is configured to change the filter coefficient b0 in a first sample period, to change the filter coefficients a1 and b1 in a second sample period which follows the first sample period, and to change the filter coefficients a2 and b2 in a third sample period which follows the second sample period.

A motor control device includes a movement command generator that outputs a movement command of a motor, a filter that performs filter processing of the movement command and outputs the filtered movement command, and a position controller that performs a position control of the motor. The filter is an infinite impulse response digital filter that is represented by a transfer function H(z): H(z)=(b0+b1.Math.z.sup.1+b2.Math.z.sup.2)/{1(a1.Math.z.sup.1+a2.Math.z.sup.2)} with filter coefficients a1, a2, b0, b1, and b2. The filter is configured to change the filter coefficient b0 in a first sample period, to change the filter coefficients a1 and b1 in a second sample period which follows the first sample period, and to change the filter coefficients a2 and b2 in a third sample period which follows the second sample period.