Provided are a fluctuation amount estimation device (9) capable of evaluating reliability of an estimated value and a correction amount calculation device (1) including the fluctuation amount estimation device (9). The correction amount calculation device (1) includes the fluctuation amount calculation device (9), a correction amount calculation unit (5), and a correction amount output unit (7). The fluctuation amount estimation device (9) includes a parameter storage (3) storing parameters as constituent elements of a neural network obtained by machine learning, an estimation unit (2) estimating a fluctuation amount relevant to a position of an element arranged in a machine tool (11) or a fluctuation amount of a distance between elements arranged in the machine tool (11) for each physical condition information of the machine tool (11) by means of the neural network with a parameter freely selected from the parameters being omitted, and a reliability evaluation unit (4) evaluating reliability of estimated multiple fluctuation amounts based on the estimated fluctuation amounts. The correction amount calculation unit (5) calculates a correction amount for the estimated fluctuation amounts based on the fluctuation amounts, and the correction amount output unit (7) outputs the calculated correction amount to outside.

A processing apparatus for processing a workpiece includes a tool holding part 9 for holding a tool 3 for processing a workpiece 5, a transferring part 11 for transferring the tool 3 for processing the workpiece 5 with the tool 3, and a control unit 13 for controlling the transferring part 11 so as to transfer the tool 3 with respect to the workpiece 5 on the basis of an NC program, and in the NC program, an arithmetic expression for calculating the position of the tool 3 is incorporated and the program is corrected on the basis of the relationship between the cutting transferring distance, the wear amount, and the deflection amount in addition to the contour error of the tool 3.

A handheld device is provided. The handheld device includes: a functional body to be used by a user; a handle provided with a first detection circuit configured to detect a movement state of the handle to acquire hand tremor information about a hand of the user; a movable connector through which the functional body is movably connected to the handle in such a manner that the functional body is capable of moving relative to the handle; a movement mechanism connected to the functional body and configured to drive the functional body to move relative to the handle; and a control circuit configured to control an operating state of the movement mechanism in accordance with the hand tremor information acquired by the first detection circuit, to drive the functional body to perform compensating movement relative to the handle, thereby to maintain the functional body at a selected position.

A numerical control method at least controls a spindle motor of a machine tool so as to perform machining in accordance with machining conditions. In the method, vibration occurring in a tool is acquired with a vibration acquisition unit, and the machining on a workpiece performed by a machining control unit is stopped when vibration having a predetermined amplitude or greater occurs in the tool. Based on state data indicating the state of the spindle motor at that time, multiple compensation plans for compensating the state of the spindle motor in order to suppress vibration occurring in the tool are calculated. The thus calculated multiple compensation plans are displayed on a display unit together with the state of the spindle motor at the time of occurrence of vibration having the predetermined amplitude or greater in the tool.

A processing apparatus for processing a workpiece includes a tool holding part 9 for holding a tool 3 for processing a workpiece 5, a transferring part 11 for transferring the tool 3 for processing the workpiece 5 with the tool 3, and a control unit 13 for controlling the transferring part 11 so as to transfer the tool 3 with respect to the workpiece 5 on the basis of an NC program, and in the NC program, an arithmetic expression for calculating the position of the tool 3 is incorporated and the program is corrected on the basis of the relationship between the cutting transferring distance, the wear amount, and the deflection amount in addition to the contour error of the tool 3.

Automatic control device controls servo motor. Automatic control device is provided with control section that calculates operation amount of servo motor based on the difference between current value and target value of a control amount of servo motor. Automatic control device is also provided with first filter that outputs first output value after using a first filter coefficient or a second filter coefficient to perform filtering of operation amount calculated by control section. Automatic control device is also provided with second filter, arranged in parallel with first filter, that outputs second output value after using a third filter coefficient to perform filtering of operation amount calculated by control section. Automatic control device is also provided with switching section that switches between first output value of first filter and second output value of second filter and sends one of the output values to servo motor.

A numerical control method at least controls a spindle motor of a machine tool so as to perform machining in accordance with machining conditions. In the method, vibration occurring in a tool is acquired with a vibration acquisition unit, and the machining on a workpiece performed by a machining control unit is stopped when vibration having a predetermined amplitude or greater occurs in the tool. Based on state data indicating the state of the spindle motor at that time, multiple compensation plans for compensating the state of the spindle motor in order to suppress vibration occurring in the tool are calculated. The thus calculated multiple compensation plans are displayed on a display unit together with the state of the spindle motor at the time of occurrence of vibration having the predetermined amplitude or greater in the tool.

A handheld device is provided. The handheld device includes: a functional body to be used by a user; a handle provided with a first detection circuit configured to detect a movement state of the handle to acquire hand tremor information about a hand of the user; a movable connector through which the functional body is movably connected to the handle in such a manner that the functional body is capable of moving relative to the handle; a movement mechanism connected to the functional body and configured to drive the functional body to move relative to the handle; and a control circuit configured to control an operating state of the movement mechanism in accordance with the hand tremor information acquired by the first detection circuit, to drive the functional body to perform compensating movement relative to the handle, thereby to maintain the functional body at a selected position.

Provided are a fluctuation amount estimation device (9) capable of evaluating reliability of an estimated value and a correction amount calculation device (1) including the fluctuation amount estimation device (9). The correction amount calculation device (1) includes the fluctuation amount calculation device (9), a correction amount calculation unit (5), and a correction amount output unit (7). The fluctuation amount estimation device (9) includes a parameter storage (3) storing parameters as constituent elements of a neural network obtained by machine learning, an estimation unit (2) estimating a fluctuation amount relevant to a position of an element arranged in a machine tool (11) or a fluctuation amount of a distance between elements arranged in the machine tool (11) for each physical condition information of the machine tool (11) by means of the neural network with a parameter freely selected from the parameters being omitted, and a reliability evaluation unit (4) evaluating reliability of estimated multiple fluctuation amounts based on the estimated fluctuation amounts. The correction amount calculation unit (5) calculates a correction amount for the estimated fluctuation amounts based on the fluctuation amounts, and the correction amount output unit (7) outputs the calculated correction amount to outside.

Automatic control device controls servo motor. Automatic control device is provided with control section that calculates operation amount of servo motor based on the difference between current value and target value of a control amount of servo motor. Automatic control device is also provided with first filter that outputs first output value after using a first filter coefficient or a second filter coefficient to perform filtering of operation amount calculated by control section. Automatic control device is also provided with second filter, arranged in parallel with first filter, that outputs second output value after using a third filter coefficient to perform filtering of operation amount calculated by control section. Automatic control device is also provided with switching section that switches between first output value of first filter and second output value of second filter and sends one of the output values to servo motor.