A control method includes an input step for inputting information concerning a setting angle for a robot arm of a robot, the robot including the robot arm and a force detecting section that detects force applied to the robot arm, and a calculating step for calculating, based on a first force detection parameter of the force detecting section corresponding to setting at a first setting angle for the robot arm and a second force detection parameter of the force detecting section corresponding to setting at a second setting angle different from the first setting angle for the robot arm, a third force detection parameter of the force detecting section at the setting angle for the robot arm.

A motor control apparatus of the present invention is a motor control apparatus for compensating elastic deformation between a servo motor and a driven part, driven by the servo motor, which includes a position command generator for generating a position command of the motor, a compensation filter for compensating the position command generated by the position command generator and a servo control unit for controlling the movement of the motor based on a position command after compensation, i.e., the compensated position command by the compensation filter, and is constructed such that the compensation filter includes a filter F(s) having an inertia J.sub.L of the driven part, a stiffness coefficient K of an elastically deformable part and a damping coefficient C of the elastically deformable part as the elements of filter coefficients.

One embodiment of the present invention can be characterized as a method for controlling a multi-axis machine tool that includes obtaining a preliminary rotary actuator command (wherein the rotary actuator command has frequency content exceeding a bandwidth of a rotary actuator), generating a processed rotary actuator command based, at least in part, on the preliminary rotary actuator command, the processed rotary actuator command having frequency content within a bandwidth of the rotary actuator and generating a first linear actuator command and a second linear actuator command based, at least in part, on the processed rotary actuator command. The processed rotary actuator command can be output to the rotary actuator, the first linear actuator command can be output to a first linear actuator and the second linear actuator command can be output to a second linear actuator.

A method for operating an electric or fluidic actuator, for which a setpoint position is predefined, includes the steps: provision of the setpoint position to a path planning unit and calculation of movement values from the setpoint position, provision of the movement values by the path planning unit to an open-loop control circuit and a closed-loop control circuit, calculation of a first manipulated variable component dependent on the movement values in the open-loop control circuit and calculation of a second manipulated variable component dependent on the movement values and on position signals of a position sensor assigned to the actuator in the closed-loop control circuit, combining of the first and the second manipulated variable component in an control unit and provision of a control signal resulting from the manipulated variable components to the actuator.

A control method includes an input step for inputting information concerning a setting angle for a robot arm of a robot, the robot including the robot arm including an arm and a driving section including a servomotor that drives the arm, a calculating step for calculating, based on a first servo parameter corresponding to setting at a first setting angle for the robot arm and a second servo parameter corresponding to setting at a second setting angle different from the first setting angle for the robot arm, a third servo parameter corresponding to the setting angle for the robot arm.

A control method includes an input step for inputting information concerning a setting angle for a robot arm of a robot, the robot including the robot arm and a force detecting section that detects force applied to the robot arm, and a calculating step for calculating, based on a first force detection parameter of the force detecting section corresponding to setting at a first setting angle for the robot arm and a second force detection parameter of the force detecting section corresponding to setting at a second setting angle different from the first setting angle for the robot arm, a third force detection parameter of the force detecting section at the setting angle for the robot arm.

A motor control device includes: a position command section configured to generate a position command for a control object; a position detecting section configured to detect a position of the control object or a position of a motor configured to drive the control object; and a position control section configured to control a position of the motor based on the position command and the detected position of the control object or the motor, in which at least one of the position command section and the position control section includes a vibration suppression filter configured to approximate a reverse characteristic of a vibration characteristic generated between the motor and the control object, and the vibration suppression filter changes a vibration suppression frequency according to at least one of the position and a mass of the control object.

One embodiment of the present invention can be characterized as a method for controlling a multi-axis machine tool that includes obtaining a preliminary rotary actuator command (wherein the rotary actuator command has frequency content exceeding a bandwidth of a rotary actuator), generating a processed rotary actuator command based, at least in part, on the preliminary rotary actuator command, the processed rotary actuator command having frequency content within a bandwidth of the rotary actuator and generating a first linear actuator command and a second linear actuator command based, at least in part, on the processed rotary actuator command. The processed rotary actuator command can be output to the rotary actuator, the first linear actuator command can be output to a first linear actuator and the second linear actuator command can be output to a second linear actuator.

A device for transporting containers comprises at least two transport devices for the containers, at least two servo motors, at least two position sensors, and at least one control unit. The at least one control unit is to control the at least two servo motors, by closed-loop control, based on a comparison of positions determined by respective position sensors of the at least two position sensors and respective target positions. The at least one control unit is further to bring the at least two servo motors to a standstill in the event of a fault of a position sensor, wherein: a) a servo motor is brought to a standstill in a closed-loop manner using the position if it is determinable by the position sensor, or b) the servo motor is brought to a standstill in an open-loop manner based on the target position if the position is not determinable.

One embodiment of the present invention can be characterized as a method for controlling a multi-axis machine tool that includes obtaining a preliminary rotary actuator command (wherein the rotary actuator command has frequency content exceeding a bandwidth of a rotary actuator), generating a processed rotary actuator command based, at least in part, on the preliminary rotary actuator command, the processed rotary actuator command having frequency content within a bandwidth of the rotary actuator and generating a first linear actuator command and a second linear actuator command based, at least in part, on the processed rotary actuator command. The processed rotary actuator command can be output to the rotary actuator, the first linear actuator command can be output to a first linear actuator and the second linear actuator command can be output to a second linear actuator.