Provided is a machine tool with which a load acting on a drive system for driving a drive subject when the drive subject starts to move toward a target position can be reduced. The machine tool includes a guide mechanism for guiding at least one drive subject from among a tool and a workpiece, a servo motor that moves the drive subject guided by the guide mechanism, and a control unit that controls the servo motor so as to move the drive subject from an initial position to the target position. The control unit controls the servo motor so as to apply vibration in which an advancing motion toward the target position and a retreating motion opposite to the advancing motion are performed repeatedly to the drive subject for a set period up to a point at which the drive subject starts to move toward the target position from the initial position.

Methods, systems, and apparatus, including medium-encoded computer program products include: obtaining i) a simulation space comprising a grid of nodes, ii) a definition of one or more regions in the simulation space containing one or more nodes of the grid of nodes, wherein each region of the one or more regions is associated with a respective predetermined number of mobile entities allowed to be located simultaneously in the region, and iii) for each node of the grid of nodes, a region set identifier; and performing a discrete event travel simulation of two or more mobile entities without exceeding, for each region the one or more regions, the respective predetermined number of mobile entities allowed to be located simultaneously in the region.