Patent ID: 7361828

Claim:
An automatic player musical instrument for reenacting a performance represented by a set of pieces of music data, comprising: a musical instrument including plural link works selectively driven to specify tones to be produced and having different values of mass, and a tone generator energized by said link works so as to produce said tones; and an automatic player including plural actuators respectively associated with said plural link works and responsive to driving signals so as selectively to exert force on said plural link works, thereby driving the associated link works to travel on respective reference trajectories determined on the basis of the pieces of music data without fingering of a human player, plural sensors producing detecting signals representative of an actual physical quantity expressing motion of said plural link works, and a controller connected to said plural actuators and said plural sensors for producing a servo control loop, determining values of said magnitude of said driving signals on the basis of a difference between said motion expressed by said actual physical quantity and the motion presently expected on said reference trajectories and control parameters, which are varied together with said mass and said motion, and adjusting said driving signals to said values of said magnitude.