A method and robot controller configured to obtain an inertia-vibration model of the robot arm. The inertia-vibration model defines a relationship between the inertia of the robot arm and the vibrational properties of said robot arm and have been by setting the robot arm in a plurality of different physical configurations and for each of said physical configurations of said robot arm obtaining the vibrational properties and the inertia the robot arm. The inertia-vibration model makes it possible to in a simple and efficient way to obtain the vibrational properties of different physical configurations of the robot arm whereby the robot arm can be controlled according to the vibrational properties of the robot arm. This makes it possible to reduce the vibrations of the robot arm during movement of the robot arm.

An example servo control system includes one or more components configured to be actuated for movement, a system controller including one or more processors for receiving feedback of the movement of the one or more components and for using the feedback within a control loop to cause an actuator to reduce error of the movement of the one or more components, and a tuned mass damper (TMD) physically connected to the one or more components. Parameters of the TMD are selected to add phase margin at a crossover frequency of the servo control system, and the TMD includes a mass coupled to the one or more components, a damper connected between the mass and the one or more components, and a spring component connected between the mass and the one or more components.

A machine tool includes a machine element, an active vibration damper arranged on a region of the machine tool for damping a vibration of the machine element, and a vibration sensor facility arranged to detect the vibration of the machine element at a first point and at a second point of the machine tool, with the vibration of the machine element to be detected being smaller at the second point than at the first point. The active vibration damper is designed to damp the vibration of the machine element as a function of a variation between a first actual value detected by the vibration sensor facility at the first point and a second actual value detected by the vibration sensor facility at the second point.

A damping device includes: a housing; a drive-side actuator that includes a drive-side stator and a drive-side mover and is connected to the housing; a damping-side actuator that includes a damping-side stator and a damping-side mover and is connected to the housing; a first signal calculator that generates a drive signal for the drive-side actuator based on a control command; and a second signal calculator that generates, when the drive-side actuator changes from a large to a small jerk state, a drive signal for the damping-side actuator based on a signal obtained by subtracting a displacement suppression command suppressing a displacement of the damping-side mover from a vibration suppression command reducing or offsetting, by a vibration component of the housing produced by driving of the damping-side actuator, a natural frequency component of the housing produced by driving of the drive-side actuator based on the control command.

A machine learning apparatus determines a control parameter of an active vibration isolation apparatus on which an industrial machine is mounted. The industrial machine includes a movable part, a drive source that drives the movable part, and a drive source control section that controls the drive source to position the movable part at a command position. The machine learning apparatus includes: an acquiring section that acquires, as teacher data, a positional deviation, which is a difference between the command position and an actual position of the movable part; a storage section that stores a learning model that outputs the control parameter corresponding to a state quantity concerning the industrial machine; and a learning section that updates the learning model using the teacher data.

A robotic system comprising: a multi-axis robot; one or more sensors located on the multi-axis robot; a damping system configured to apply a resistive force to the multi-axis robot, thereby to resist movement of the multi-axis robot; and a controller coupled to the one or more sensors and the damping system, the controller being configured to: receive sensor measurements from the one or more sensors; and control, based on the received sensor measurements, the damping system thereby to control the resistive force applied by the damping system to the multi-axis robot.

The problem of addressing vibrational disturbances in mechanical positioning systems is addressed by systems and methods that use a combination of active vibration dampening and passive vibration dampening. A system described herein generally comprises a mechanical positioning system; a payload; and a vibration dampening module coupled to the mechanical position system and to the payload. The vibration dampening module generally comprises an active vibration dampener and/or a passive vibration dampener.

The problem of addressing vibrational disturbances in mechanical positioning systems is addressed by systems and methods that use a combination of active vibration dampening and passive vibration dampening. A system described herein generally comprises a mechanical positioning system; a payload; and a vibration dampening module coupled to the mechanical position system and to the payload. The vibration dampening module generally comprises an active vibration dampener and/or a passive vibration dampener.

A damping device includes: a housing; a drive-side actuator that includes a drive-side stator and a drive-side mover and is connected to the housing; a damping-side actuator that includes a damping-side stator and a damping-side mover and is connected to the housing; a first signal calculator that generates a drive signal for the drive-side actuator based on a control command; and a second signal calculator that generates a drive signal for the damping-side actuator based on the control command to reduce or offset, by a vibration component of the housing produced by driving of the damping-side actuator, a natural frequency component of the housing produced by driving of the drive-side actuator.

There are disclosed a vibration control device and a vibration control method that control shaft torsional vibration and machine stand vibration without installing a special sensor or measurement instrument. A vibration control device includes an amplification factor change unit that changes an amplification factor of an amplification unit used for amplifying a deviation between a command value and a detection value in a servo amplifier, a vibration detection unit that measures the frequency and the amplitude of vibration superimposed on a moving part, and a filter change unit that changes a filter based on the frequency and the amplitude detected by the vibration detection unit.