The present disclosure provides a control method for an electronically controlled servo mechanism as well as an apparatus and a robot thereof. The method is for an electronically controlled servo mechanism including a servo having a PI controller, which includes: obtaining related parameter(s) of the PI controller before tuning, where the related parameters includes a proportional coefficient and an integral coefficient; obtaining a current rotational angle of an output shaft of the servo, and calculating an angular deviation between the obtained current rotational angle and an expected rotational angle of an output shaft of the servo; and tuning the related parameter(s) of the PI controller based on the proportional coefficient, the integral coefficient, and the angular deviation. In such a manner, the parameter(s) of the PI controller are tuned to make it equivalent to a P controller, thereby avoiding the large oscillation caused by external interference.

The present disclosure provides a virtual rail based cruise method as well as an apparatus and a robot using the same. The method includes: obtaining a digital map including a virtual rail; performing a path planning based on the virtual rail, a current position of the robot, and a cruise end point to obtain a cruise path; and obtaining parameter(s) of the robot by calculating through a preset path tracking algorithm based on the cruise path and the current position of the robot, and controlling the robot based on the control parameter(s). In this manner, the problems of the prior art that needs to lay a rail or set an auxiliary device which causes high cost and inconvenience in usage as well as the rail needs to be re-laid or the auxiliary device needs to be reinstalled when the route is to be changed can be solved.

The present disclosure provides a virtual rail based cruise method as well as an apparatus and a robot using the same. The method includes: obtaining a digital map including a virtual rail; performing a path planning based on the virtual rail, a current position of the robot, and a cruise end point to obtain a cruise path; and obtaining parameter(s) of the robot by calculating through a preset path tracking algorithm based on the cruise path and the current position of the robot, and controlling the robot based on the control parameter(s). In this manner, the problems of the prior art that needs to lay a rail or set an auxiliary device which causes high cost and inconvenience in usage as well as the rail needs to be re-laid or the auxiliary device needs to be reinstalled when the route is to be changed can be solved.

A robot system has first and second joint control units that respectively calculate first and second current values to be supplied to first and second motors based on deviations between first and second operation targets for the motors that are input from a higher device and actual operation of output shafts of the motor, and control operation of the output shafts by supplying current to the motors based on the current values, and an error estimation unit estimating an error in operation of a second joint due to bending and/or twisting of a robot arm based on the first current value and the actual operation of the output shaft of the first motor, in which the second joint control unit calculates the second current value to control the rotation angle of the output shaft of the second motor in a manner compensating for an angle error of the second joint.

In described examples of methods and control systems to control a position and/or velocity of a machine, control circuitry is coupled to receive and dither a control signal, and to compute a control output value according to the dithered control signal and a control function. An inverter is coupled to the control circuitry, to control the position and/or velocity according to the control output value.

A processing data creation method of creating processing data to be used when a target object is formed inside a material by laser processing includes setting an impingement path for a laser beam inside the material in accordance with shape data indicating a shape of the target object, and creating the processing data by adjusting a location of the impingement path in an impingement direction of the laser beam in accordance with a refractive index of the material.

A processing data creation method of creating processing data to be used when a target object is formed inside a material by laser processing includes setting an impingement path for a laser beam inside the material in accordance with shape data indicating a shape of the target object, and creating the processing data by adjusting a location of the impingement path in an impingement direction of the laser beam in accordance with a refractive index of the material.

An adaptive control device according to the present invention includes: a processor that generates a second command value for a motor on the basis of at least one of a first command value received from a numerical control device, feedback data received from a motor control device that controls the motor on the basis of the first command value, and sensor data received from a sensor; and a communication circuit that transmits the second command value to the numerical control device.

Disclosed embodiments include methods of controlling an encoder principle axis speed synchronization for controlling a motor, which may be executed by a microprocessor. In some embodiments, the microprocessor includes latching a count value to a specific memory at an input time of an encoder pulse signal when a control period is commenced and the encoder pulse signal is received, generating an output pulse using the count value latched to the specific memory, and mapping the output pulse to an output during a next control period. In some embodiments, an interval between encoder pulse signals is calculated using a count value at an input time of the encoder pulse signal and an encoder input speed is measured according to the interval therebetween so that an encoder speed may be exactly measured.

Disclosed embodiments include methods of controlling an encoder principle axis speed synchronization for controlling a motor, which may be executed by a microprocessor. In some embodiments, the microprocessor includes latching a count value to a specific memory at an input time of an encoder pulse signal when a control period is commenced and the encoder pulse signal is received, generating an output pulse using the count value latched to the specific memory, and mapping the output pulse to an output during a next control period. In some embodiments, an interval between encoder pulse signals is calculated using a count value at an input time of the encoder pulse signal and an encoder input speed is measured according to the interval therebetween so that an encoder speed may be exactly measured.