A method for reducing vibration of a robot arm includes: a step of mounting at least one inertia actuator and at least one vibration signal capturing unit to a processing end of a robot arm; a step of applying the at least one vibration signal capturing unit to detect a vibration generated at the processing end of the robot arm so as to generate a vibration signal; a step of applying a central processing unit to evaluate the vibration signal and coordinates of the processing end of the robot arm so as to capture at least one set of corresponding control parameters for calculating at least one output force; and, a step of having the inertia actuator to apply the output force to the processing end of the robot arm for counteracting the vibration at the processing end of the robot arm.

In the present invention, an image of a verification target medicine disposed on an arrangement unit is captured, prescription condition information indicating a prescription condition is acquired, an external force application unit is caused to execute an external force applying operation of applying an external force to the medicine disposed on the arrangement unit to move the medicine when an operation execution condition is satisfied, wherein the operation execution condition includes at least one of: a first operation execution condition that the number of the verification target medicines appearing in the image differs from the quantity of the medicines specified from the prescription condition information; and a second operation execution condition that a shape of the verification target medicine appearing in the image differs from a shape corresponding to a type of the medicine specified from the prescription condition information.

A servo control device for controlling an end effector of a machine to follow a set reference trajectory by driving the machine using an actuator includes a feedforward compensation unit that performs feedforward compensation by outputting a feedforward signal for controlling the actuator on the basis of a position command signal inputted thereto, wherein input-output characteristics represented in a continuous-time system of the feedforward compensation unit are expressed by a transfer function having unstable zeros, and a step response of the feedforward compensation unit has an initial undershoot.

A vibration suppression device that suppresses vibration of an operation unit in a mechanical system having a natural vibration mode including the operation unit, an actuator unit that operates the operation unit, and an elastic body that couples the operation unit and the actuator unit, the vibration suppression device including a generation means for generating a drive signal for driving the actuator unit, an estimation means for estimating a measurement amount related to the mechanical system, a correction means for correcting the drive signal generated by the generation means on the basis of the measurement amount estimated by the estimation means, and a change means for changing a gain used by the estimation means so that an influence of an increase in a modeling error becomes small in a period in which the modeling error of the mechanical system increases.

After a component picked up by a suction nozzle is moved in an XY direction towards target XY coordinates, a waveform of a vibration (vibration waveform) in the Y direction arising in the component after the component has arrived near the target XY coordinates is measured, and control is performed such that the component arrives at a target Z coordinate (value zero) when a displacement y of the component crosses a node of the measured vibration waveform.

A vibration cutting process diagnostic device diagnoses the propriety of a vibration cutting process to machine the sectional shape of a working object into a non-complete round shape by reciprocating a movable shaft. This device includes a frequency analyzer to calculate a frequency component contained in a position command signal for the movable shaft on the basis of shape data, which is machining shape data on a workpiece treated as the working object, and a machining speed set value; and a process diagnosis executor to diagnose the propriety of machining the shape data under the machining speed set value on the basis of the frequency component and a movable shaft parameter of the movable shaft.

Vibration instruction data transmitted from another apparatus is received, data related to the vibration instruction data is stored in a memory, and a vibration apparatus is vibrated using the data stored in the memory. On the other hand, vibration state data indicating a vibration state of the vibration apparatus is generated, and the vibration state data is transmitted to the other apparatus.

A six-degree-of-freedom micro vibration suppression platform includes a basic platform, a load platform, six sets of single-degree-of-freedom active and passive composite vibration isolation devices that are exactly the same and a controller. Upper and lower ends of each set of single-degree-of-freedom active and passive composite vibration isolation devices are connected with the load platform and the basic platform, respectively. A control method includes: calculating a logical axis signal, calculating a logical axis control signal, calculating physical axis real-time control signals and a transfer step.

A control apparatus includes: a control computing unit that generates an operation amount based on a control deviation, calculated by performing subtraction of a command value and a control amount, and a control gain; an adjustment-execution-command generating unit that generates an adjustment-execution command value indicating ON or OFF; a binary output unit that generates an adjustment-time addition value based on the control deviation and a hysteresis-width setting value; a standard-deviation estimating unit that calculates a low-frequency-component removed signal obtained by removing low-frequency components of the control amount or the control deviation and calculates a standard-deviation estimated value, which is an estimated value of a standard deviation; and a hysteresis-width computing unit that calculates a hysteresis-width computed value based on the standard-deviation estimated value and changes the hysteresis-width setting value of the binary output unit to the hysteresis-width computed value.

A robot control apparatus includes a robot control part that controls a robot; and a force detection information acquisition part that acquires force detection information from a force detector. The robot control part allows the robot to move a first object closer to a second object and, if a magnitude of at least one of a force and moment contained in the force detection information exceeds a predetermined first threshold value, to perform an operation of bringing a first surface of the first object into surface contact with a second surface of the second object according to position control and force control based on a predetermined distance and a predetermined velocity.