A numerical controller, which is capable of controlling an output value without causing delay or the like in feedback control, includes an instruction program analysis unit configured to analyze a program instruction and generate instruction data instructing movement of the axis, and a speed computation unit configured to start speed computation processing to compute a feeding speed of the axis by the instruction data or an override for the feeding speed by feedback control such that the spindle load value becomes constant. The speed computation unit is configured to update a feature amount intended for elimination of deviation between a desired value and a feedback value in the feedback control when another override that is different than the override that has been computed is output. The feature amount is updated to a value obtained by back calculation from the other override that is to be output.

A novel piezo-driven cell injection system with force feedback overcomes the unsatisfied force interaction between the pipette needle and embryos in conventional position control. By integrating semiconductor strain-gage sensors for detecting the cell penetration force and the micropipette relative position in real time, the developed cell microinjection system features high operation speed, confident success rate, and high survival rate. The effectiveness of the developed cell injection system is experimentally verified by penetrating zebrafish embryos. The injection of 100 embryos are conducted with separate position control and force control. Results indicate that the force control enables a survival rate of 86%, which is higher than the survival rate of 82% produced by the position control in the same control environment. The experimental results quantitatively demonstrate the superiority of force control over conventional position control for the first time.

In a method for guiding a cutting head in relation to a material, a position and a speed of the cutting head are set by means of a drive unit depending on a desired position value and a desired speed value established by an interpolator unit, a control signal for the drive unit is determined, a distance between the cutting head and the material is determined with a distance sensor, and a corresponding distance signal is provided. The distance signal is compared with a predetermined comparison distance to yield a distance-control signal, and the control signal for the drive unit is additionally determined dependent upon a distance-control signal. The comparison distance is subtracted from the distance signal and the difference is superimposed on the actual position signal, which is delayed by a first time period, wherefrom the distance-control signal is determined.

In a method for guiding a cutting head in relation to a material, a position and a speed of the cutting head are set by means of a drive unit depending on a desired position value and a desired speed value established by an interpolator unit, a control signal for the drive unit is determined, a distance between the cutting head and the material is determined with a distance sensor, and a corresponding distance signal is provided. The distance signal is compared with a predetermined comparison distance to yield a distance-control signal, and the control signal for the drive unit is additionally determined dependent upon a distance-control signal. The comparison distance is subtracted from the distance signal and the difference is superimposed on the actual position signal, which is delayed by a first time period, wherefrom the distance-control signal is determined.

A novel piezo-driven cell injection system with force feedback overcomes the unsatisfied force interaction between the pipette needle and embryos in conventional position control. By integrating semiconductor strain-gage sensors for detecting the cell penetration force and the micropipette relative position in real time, the developed cell microinjection system features high operation speed, confident success rate, and high survival rate. The effectiveness of the developed cell injection system is experimentally verified by penetrating zebrafish embryos. The injection of 100 embryos are conducted with separate position control and force control. Results indicate that the force control enables a survival rate of 86%, which is higher than the survival rate of 82% produced by the position control in the same control environment. The experimental results quantitatively demonstrate the superiority of force control over conventional position control for the first time.

A numerical controller, which is capable of controlling an output value without causing delay or the like in feedback control, includes an instruction program analysis unit configured to analyze a program instruction and generate instruction data instructing movement of the axis, and a speed computation unit configured to start speed computation processing to compute a feeding speed of the axis by the instruction data or an override for the feeding speed by feedback control such that the spindle load value becomes constant. The speed computation unit is configured to update a feature amount intended for elimination of deviation between a desired value and a feedback value in the feedback control when another override that is different than the override that has been computed is output. The feature amount is updated to a value obtained by back calculation from the other override that is to be output.