A system includes a motor configured to be coupled to a non-rigid load and a control system disposed within, or communicatively coupled to, a drive system configured to control an operation of the motor. The control system includes a processor and a memory accessible by the processor. The memory stores instructions that, when executed by the processor, cause the processor to generate a smooth move input profile to control the operation of the motor based on inputs specifying a desired operation of the motor, apply a notch filter having a notch filter frequency to the smooth move input profile to produce a filtered smooth move input profile, and send a command to the drive system based on the filtered smooth move input profile, wherein the command is configured to adjust the operation of the motor.

A system includes a motor configured to be coupled to a non-rigid load and a control system disposed within, or communicatively coupled to, a drive system configured to control an operation of the motor. The control system includes a processor and a memory accessible by the processor. The memory stores instructions that, when executed by the processor, cause the processor to generate a smooth move input profile to control the operation of the motor based on inputs specifying a desired operation of the motor, apply a notch filter having a notch filter frequency to the smooth move input profile to produce a filtered smooth move input profile, and send a command to the drive system based on the filtered smooth move input profile, wherein the command is configured to adjust the operation of the motor.

A motor controller according to the present invention includes a position command unit for commanding the position of a driven unit, a compensation filter unit for compensating a position command, and a servo control unit for controlling the operation of a servomotor based on a compensated position command. The compensation filter unit includes an inverse characteristic filter for approximating an inverse characteristic of a transfer characteristic from a motor position to a mechanical position, and a high frequency cutoff filter for reducing a high frequency component of the position command. The inverse characteristic filter is a filter for reducing a gain at a mechanical resonance frequency ω.sub.0. The high frequency cutoff filter has a constant “a” times high frequency cutoff frequency aω.sub.0 using a constant “a” of 1 or more, with respect to the mechanical resonance frequency ω.sub.0 determined in the inverse characteristic filter.

To be able to activate a smoothing filter for a setpoint, with which the movement of a drive axis (A, Ai) of a drive unit (AE) can also be controlled during the movement without a negative effect on the movement, it is provided that the smoothing filter (10) is initialized with a setpoint profile (S.sub.init) so that a current movement phase ((S.sub.0, {dot over (S)}.sub.0, . . . , S.sub.0.sup.(x))) is continued continuously and the repeated time derivative (S.sup.(x+1)) of the highest time derivative (S.sup.(x)) of the setpoint (S(t), S(k)) is limited.

A system includes a motor configured to be coupled to a non-rigid load and a control system disposed within, or communicatively coupled to, a drive system configured to control an operation of the motor. The control system includes a processor and a memory accessible by the processor. The memory stores instructions that, when executed by the processor, cause the processor to generate a smooth move input profile to control the operation of the motor based on inputs specifying a desired operation of the motor, apply a notch filter having a notch filter frequency to the smooth move input profile to produce a filtered smooth move input profile, and send a command to the drive system based on the filtered smooth move input profile, wherein the command is configured to adjust the operation of the motor.

A system includes a motor configured to be coupled to a non-rigid load and a control system disposed within, or communicatively coupled to, a drive system configured to control an operation of the motor. The control system includes a processor and a memory accessible by the processor. The memory stores instructions that, when executed by the processor, cause the processor to generate a smooth move input profile to control the operation of the motor based on inputs specifying a desired operation of the motor, apply a notch filter having a notch filter frequency to the smooth move input profile to produce a filtered smooth move input profile, and send a command to the drive system based on the filtered smooth move input profile, wherein the command is configured to adjust the operation of the motor.

A device and method for the generation of a constraint-based, preferably time-optimal motion profile is presented. The device 100 comprises a control unit 102, said control unit 102 is configured to control a mechanical system 104, whereas an alike comprised set-point generator 101 delivers set points for the control unit 102. A moving average filter 111 is coupled to said generator 101. By application of the moving average filter 111 a piecewise constant set point profile changes into a piecewise linear profile. This has several positive effects as explained in the disclosure, while a moving object is driven via the mechanism.

To be able to activate a smoothing filter for a setpoint, with which the movement of a drive axis (A, Ai) of a drive unit (AE) can also be controlled during the movement without a negative effect on the movement, it is provided that the smoothing filter (10) is initialized with a setpoint profile (S.sub.init) so that a current movement phase ((S.sub.0, {dot over (S)}.sub.0, . . . , S.sub.0.sup.(x))) is continued continuously and the repeated time derivative (S.sup.(x+1)) of the highest time derivative (S.sup.(x)) of the setpoint (S(t), S(k)) is limited.

This control device (10) for compensating for the elastic deformation of an articulated robot is configured from a joint angle command value calculation unit (100), an axial force torque calculation unit (200), a first dynamic characteristic computing unit (300), a feedback control unit (500), and a motor angle command value calculation unit (600). The first dynamic characteristic computing unit (300) is configured from an interpolation unit configured from an N-ary curve interpolation, and a filter unit configured from an M-ary filter, with N+M being at least 4.