A calibration area has a rectangular area and a peripheral area. The rectangular area includes a center area provided in the center portion and a first corner area, a second corner area, a third corner area, and a fourth corner area that are set at four corners sequentially in the circumferential direction. The center area has a line symmetry with respect to each of the two orthogonal axes passing through the center of the rectangular area. The heights of the areas are different.

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.

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.

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.

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.

A processing device is provided and electrically connected to a drive controller for driving a control object. The drive controller has a predetermined control structure that includes a feedback system and a control model part, and that enables model follow-up control according to the control models, and has the predetermined control structures corresponding to the control objects, respectively. The processing device determines a common control gain to set a predetermined control gain in the control model part of each predetermined control structure corresponding to the control objects to the common control gain for all the control model parts when synchronous control of the control objects is performed, and instructs the drive controller to set the common control gain for the control model part corresponding to each predetermined control structure.

A manipulation system includes: a manipulator that operates a microscopic object; a first input unit that generates a first movement command signal for moving the manipulator to a manipulator position corresponding to an input operation position; and a second input unit that generates a second movement command signal for moving the manipulator to a manipulator stored position stored in a storage. When the input operation position of the first input unit is a predetermined input operation position, the manipulator is enabled to be moved by an operation of the first input unit, or the manipulator is enabled to be moved by an operation of the second input unit.

Method for positioning and orienting a first object relative to a second object. The method includes positioning a near field transducer having an aperture on the first object, and directing a laser light toward the aperture of the near field transducer on the first object to create an evanescent wave on the other side of the aperture. Positioning a sensor on the second object for detecting the effervescent wave from the near field transducer. Providing an algorithm, and using information obtained from the sensor on the second object in the algorithm to control a nanopositioning system to position one of the first object and the second object in a desired position and orientation relative to the other one of the first object and the second object.

A processing device is provided and electrically connected to a drive controller for driving a control object. The drive controller has a predetermined control structure that includes a feedback system and a control model part, and that enables model follow-up control according to the control models, and has the predetermined control structures corresponding to the control objects, respectively. The processing device determines a common control gain to set a predetermined control gain in the control model part of each predetermined control structure corresponding to the control objects to the common control gain for all the control model parts when synchronous control of the control objects is performed, and instructs the drive controller to set the common control gain for the control model part corresponding to each predetermined control structure.

In order to stabilize control of a driving section, a robot control apparatus includes a control section that acquires a driving position of the driving section that drives a robot and an operation force that is a force operating on the robot, and performs first control of the driving section based on the driving position and second control of the driving section based on the operation force; and a changing section that changes a size of servo stiffness of the robot that is realized by the control of the control section.