A robotic system is provided for assembling parts together. In the assembly process, both parts are moving separately with one part moving on an assembly base and another part moving on a moveable arm of a robot base. Motion data is measured by an inertial measurement unit (IMU) sensor. Movement of the robot base or moveable arm is then compensated based on the measured motion to align the first and second parts with each other and assemble the parts together.

A control device is configured to control operation of a drive unit and monitor a rotational balance of a rotating body, for a machine tool including the rotating body that is rotatable around a predetermined axial center in a state of fixing a workpiece and on which an adjusting tool that can adjust the rotational balance is arrangeable, and the drive unit that rotates the rotating body, and the control device includes: a physical quantity acquiring unit configured to acquire at least one physical quantity indicating a rotational state of the rotating body, the physical quantity being changed in response to an adjustment of the rotational balance; a comparing unit configured to compare a plurality of physical quantities having different acquisition times; and an output unit configured to output a comparison result.

A robotic system is provided for assembling parts together. In the assembly process, both parts are moving separately with one part moving on an assembly base and another part moving on a moveable arm of a robot base. Motion data is measured by an inertial measurement (IMU) sensor. Movement of the robot base or moveable arm is then compensated based on the measured motion to align the first and second parts with each other and assemble the parts together.

A control device is configured to control operation of a drive unit and monitor a rotational balance of a rotating body, for a machine tool including the rotating body that is rotatable around a predetermined axial center in a state of fixing a workpiece and on which an adjusting tool that can adjust the rotational balance is arrangeable, and the drive unit that rotates the rotating body, and the control device includes: a physical quantity acquiring unit configured to acquire at least one physical quantity indicating a rotational state of the rotating body, the physical quantity being changed in response to an adjustment of the rotational balance; a comparing unit configured to compare a plurality of physical quantities having different acquisition times; and an output unit configured to output a comparison result.

Provided is a feed shaft control method, wherein a speed feedback loop having a speed controller is disposed within a position feedback loop having a position controller, forming a cascade coupling, and an acceleration feedback signal which is outputted from a compensator on the basis of an output signal of an acceleration detector is subtracted from a torque instruction. Furthermore, the method implements control wherein a speed is acquired on the basis of the output signal of the acceleration detector, and a signal obtained by multiplying the acquired speed by a gain is added to a speed instruction which is outputted from the position controller.

A robot of the invention can be moved by a carrying apparatus, and in which a period between a settling start time and a settling end time of the robot overlaps with at least a part of a period between a settling start time and a settling end time of the carrying apparatus. Further, the settling start time of one having a shorter settling time of the robot and the carrying apparatus is later than the settling start time of the other having a longer settling time of the robot and the carrying apparatus or the same as the settling start time of the other having the longer settling time.

A robot of the invention can be moved by a carrying apparatus, and in which a period between a settling start time and a settling end time of the robot overlaps with at least a part of a period between a settling start time and a settling end time of the carrying apparatus. Further, the settling start time of one having a shorter settling time of the robot and the carrying apparatus is later than the settling start time of the other having a longer settling time of the robot and the carrying apparatus or the same as the settling start time of the other having the longer settling time.

Provided is a feed shaft control method, wherein a speed feedback loop having a speed controller is disposed within a position feedback loop having a position controller, forming a cascade coupling, and an acceleration feedback signal which is outputted from a compensator on the basis of an output signal of an acceleration detector is subtracted from a torque instruction. Furthermore, the method implements control wherein a speed is acquired on the basis of the output signal of the acceleration detector, and a signal obtained by multiplying the acquired speed by a gain is added to a speed instruction which is outputted from the position controller.