Patent ID: 7778716

Claim:
A command generating device comprising: a storage means for establishing an equation indicating a frequency component of an nth derivative command shape signal having a value which is equal to a fixed multiple of an nth derivative with respect to time of a position command for causing a target to be driven and controlled to reach a target position at a positioning time, and which is specified by a certain parameter, the frequency component depending upon said parameter, for predetermining frequencies at which said equation indicating the frequency component becomes equal to zero dependent upon said parameter, and for storing both said parameter and said frequencies at which the equation indicating the frequency component of said nth derivatives command shape signal becomes equal to zero by associating them with each other; a command shape calculating means for reading said parameter corresponding to a frequency of a vibration which occurs in said target to be driven and controlled, at which said equation indicating the frequency component becomes equal to zero, from said storage means so as to determines said nth derivative command shape signal using said parameter; and an associating processing means for integrating said nth derivative command shape signal which is calculated from said position command by said command shape calculating means n times with respect to time, and for multiplying the integral result by a constant which associates the position command at said positioning time with said target position so as to determine the position command.