Patent ID: 9075400
Filing Date: 2015-07-07
Classification: B25J,G05B,H02P

Abstract:
1. A motor control device that controls motion of a control target including a motor and a vibratable element, the motor control device comprising: a generating unit configured to generate, according to state information representing a state of the control target related to a vibration characteristic of the control target, a first parameter representing the vibration characteristic of the control target; a first calculating unit configured to calculate a second parameter corresponding to a temporal change amount of the first parameter generated by the generating unit; a second calculating unit configured to calculate, according to a motion target value, the first parameter, and the second parameter, a model torque such that the control target does not excite vibration; and a developing unit configured to develop, according to the model torque calculated by the second calculating unit, a torque command for the motor for causing the motion of the control target to follow the motion target value.