Patent ID: 8089226

Claim:
A torque control device that controls torque of a first mechanical unit and a second mechanical unit connected coaxially to each other through connecting members, the torque control device comprising: a controller that generates a first reference and a second reference on the basis of a command from a host system; a first motor that drives the first mechanical unit; a second motor that drives the second mechanical unit; a first motor control unit that controls the first motor on the basis of the first reference; and a second motor control unit that controls the second motor on the basis of the second reference, wherein the first reference and the second reference synchronously accelerate the first motor and the second motor until first rotational speed is reached, then change rotational speed of the second motor according to a predetermined speed profile in which the rotational speed of the second motor is higher than the first rotational speed to produce torsional torque in the connecting members, decelerate the second motor to the first rotational speed after the torsional torque reaches a predetermined value, and synchronously decelerate and stop the first motor and the second motor after a predetermined time period elapses.