Patent ID: 7348745
Filing Date: 2008-03-25
Classification: G05B

Abstract:
1. A controller, comprising position/speed detection means for detecting the position and/or speed of a driven body, and controlling the position and/or speed of the driven body on the basis of a detection value from the position/speed detection means, wherein the controller further comprises: at least two acceleration detection means which are disposed in different sections on the driven body and detect the accelerations in the sections; and command correction means for correcting at least one of a position command, speed command, or current command of the driven body on the basis of the difference between the accelerations in one direction, which are detected by the acceleration detection means, wherein the acceleration detection means detects the accelerations in a plurality of directions; and the controller comprises calculation means for obtaining values of the accelerations in travel directions of the driven body from values of the accelerations in each of the plurality of directions, which are detected by the acceleration detection means, and obtaining the difference between the values of the accelerations in the travel directions.