Patent ID: 7120530
Filing Date: 2006-10-10
Classification: F16H,G05B,Y10T

Abstract:
1. A control apparatus for executing a contacting process wherein a contact body is moved to come into contact with a contacted body by an actuator from a state that the contact body and the contacted body are spaced and opposed each other, by controlling an operation of a contact mechanism including the contact body movably provided in one axial direction, the actuator for moving the contact body connected therewith, and the contacted body making contact with the contact body when the contact body is moved to a predetermined position, comprising: target position setting means for setting a target position of the contact body in the contacting process; actual position ascertaining means for ascertaining an actual position of the contact body; and operation amount determining means for determining a first operation amount to drive the actuator so as to have a first state amount converge on an equilibrium point on a first switching function stipulated by a first linear function having at least a deviation between the target position and the actual position of the contact body as the first state amount and this first state amount as a variable by using response specifying-type control which can variably specify a damping behavior and a damping speed of the deviation in order to have the target position and the actual position of the contact body to match.