Patent ID: 8222851

Claim:
A machine control device for moving a control object machine to a target position and halting the control object machine, the machine control device comprising: a correction unit that obtains a correction amount, based on an instruction value for any one of position, velocity and torque, from an nth derivative value (where n is a natural number equal to or greater than 2) of the instruction value; an addition unit that adds the correction amount to an instruction value for any one of position, velocity and torque; a control unit for driving and controlling the control object machine according to output of the addition unit; and a proportional gain setting unit that sets a proportional gain upon position regulation operation; wherein, in the proportional gain setting unit, when a movement velocity based on the position instruction value decreases the proportional gain is set high, and when a movement velocity based on the position instruction value increases, the proportional gain is set low.