To provide high speed and high precision positioning control by sufficiently suppressing residual vibration of a load tip in consideration of damping of natural vibration of a load machine.
A transfer function F1(s) of a secondary filter 15 for receiving an S-shaped position command to output a position command to a feedback system is expressed by Formula 1, where ω1 is a natural angular frequency ω0 of a load machine, ζ1 is a natural vibration damping coefficient ζ0 of the load machine, and ω2 is set with an acceleration time ta or a time td from an acceleration start to a deceleration start in the S-shaped position command so as to fulfill Formula 2 or Formula 3 (where k is a natural number). The addition of a primary term (2ζ1/ω1s)of s to the numerator of the secondary filter 15 in consideration of damping of mechanical vibration can sufficiently suppress residual vibration at a load tip position Xh.
| JP2008139952 | STAGE |
| JPS5855447 | [Title of the device] Control devices, such as a robot for industry |
KAKO YASUHIKO
Katsuhiro Ito
Ishibashi Masayuki
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