A servo controller includes a speed command creation unit, a torque command creation unit, a speed detection unit, a speed control loop, a speed control gain, a filter, a parameter storage unit, a sinusoidal disturbance input unit, a frequency characteristics calculation unit, and a parameter adjustment unit. The parameter storage unit stores a history of past frequency characteristics obtained by the frequency characteristics calculation unit in correlation with past parameter history.

A servo controller includes a speed command creation unit, a torque command creation unit, a speed detection unit, a speed control loop, a speed control gain, a filter, a parameter storage unit, a sinusoidal disturbance input unit, a frequency characteristics calculation unit, and a parameter adjustment unit. The parameter storage unit stores a history of past frequency characteristics obtained by the frequency characteristics calculation unit in correlation with past parameter history.

A servo controller includes a speed command creation unit, a torque command creation unit, a speed detection unit, a speed control loop, a speed control gain, a sinusoidal disturbance input unit, an actual frequency characteristics calculation unit, a reference characteristics changing unit, a reference frequency characteristics calculation unit, and a control gain adjustment unit. The sinusoidal disturbance input unit changes a frequency sequentially, a reference frequency characteristics calculation unit calculates reference frequency characteristics for characteristics designated by the reference characteristics changing unit sequentially for respective frequencies, the actual frequency characteristics calculation unit calculates actual frequency characteristics of a control system sequentially for respective frequencies, and the reference frequency characteristics calculation unit stores a characteristic formula of the reference characteristics changing unit when the reference frequency characteristics and the actual frequency characteristics match most closely.

A servo controller includes a speed command creation unit, a torque command creation unit, a speed detection unit, a speed control loop, a speed control gain, a sinusoidal disturbance input unit, an actual frequency characteristics calculation unit, a reference characteristics changing unit, a reference frequency characteristics calculation unit, and a control gain adjustment unit. The sinusoidal disturbance input unit changes a frequency sequentially, a reference frequency characteristics calculation unit calculates reference frequency characteristics for characteristics designated by the reference characteristics changing unit sequentially for respective frequencies, the actual frequency characteristics calculation unit calculates actual frequency characteristics of a control system sequentially for respective frequencies, and the reference frequency characteristics calculation unit stores a characteristic formula of the reference characteristics changing unit when the reference frequency characteristics and the actual frequency characteristics match most closely.

A software module calculates a 3D tool path with integrated reference variable generation for interpolating moving single axes of a precision machine. A precision machine has a control or drive servo-side interface, in order to read in advance for machining calculated files with equitemporal reference variables for interpolating single axes of the precision machine and to stream to the position and/or velocity controller of the respective individual axes. A method calculates a 3D tool path and a component is produced with this precision machine or with such a method.

A software module calculates a 3D tool path with integrated reference variable generation for interpolating moving single axes of a precision machine. A precision machine has a control or drive servo-side interface, in order to read in advance for machining calculated files with equitemporal reference variables for interpolating single axes of the precision machine and to stream to the position and/or velocity controller of the respective individual axes. A method calculates a 3D tool path and a component is produced with this precision machine or with such a method.

In a method for calculating reference variables for interpolating moving single axes of a precision machine based on a given 3D tool path firstly for all points of the tool path offline assuming a freely selected path velocity or single-axis velocity, the velocity, acceleration and jerk profiles of all the interpolating axes are calculated cohesively and without specifying limiting values and then velocity, acceleration or jerk profiles are varied on regions on the 3D tool path.

In a method for calculating reference variables for interpolating moving single axes of a precision machine based on a given 3D tool path firstly for all points of the tool path offline assuming a freely selected path velocity or single-axis velocity, the velocity, acceleration and jerk profiles of all the interpolating axes are calculated cohesively and without specifying limiting values and then velocity, acceleration or jerk profiles are varied on regions on the 3D tool path.

Apparatus and methods for adaptively retooling robots include programmable adapters for detachably connecting at least one robotic peripheral to a robot, providing peripheral information associated with the robotic peripheral, and causing the robot to adaptively reconfigure based on the peripheral information.

Disclosed is a conveying and positioning system and method, which is applied in the technical field of conveyance in the automotive industry and comprises a roller machine, a conveying trolley and an intelligent variable-frequency controller, wherein the conveying trolley is provided with a reflector; the roller machine is provided with a driving mechanism and a distance sensor; and, the driving mechanism comprises a driving motor controlled by the intelligent variable-frequency controller and a rotary encoder capable of feeding back rotation speed information of the driving motor to the intelligent variable-frequency controller. In the present invention, with the intelligent variable-frequency controller, by reading position information fed back by the distance sensor and rotation speed information fed back by the rotary encoder, accurate voltage frequency control information is output by internal operation so as to control the rotation speed of the driving motor, so that a double closed loop control mode of the conveying and positioning system is realized. In the present invention, fast conveyance, accurate positioning and stable operation of the conveying trolley can be realized by the technical solutions in the double closed loop control mode, and the cost is low.