Patent ID: 7279630

Claim:
An automatic player musical instrument for producing tones, comprising: an acoustic musical instrument including plural manipulators selectively manipulated for specifying tones to be produced, and a tone generator connected to said plural manipulators and responsive to motion of the manipulators so as to produce said tones specified through the manipulated manipulators; and an automatic playing system including plural actuators provided for said plural manipulators and responsive to driving signals so as to give rise to actual motion of said manipulators for producing said tones, plural sensors monitoring said plural manipulators and producing detecting signals representing a current physical quantity which expresses said actual motion, a controller connected to said plural sensors and determining reference trajectories each expressed by a target physical quantity varied with time on the basis of pieces of music data for the manipulators to be manipulated by said plural actuators, at least another current physical quantity on the basis of said current physical quantity, at least another target physical quantity on the basis of said target physical quantity, deviations at least between said current physical quantity and said target physical quantity and between said another current physical quantity and said another target physical quantity, control parameters at least one of which is varied depending upon one of said actual motion and a target motion on said reference trajectories and an optimum magnitude of said driving signals through an arithmetic operation between said deviations and said control parameters, and a signal modulator connected between said controller and said plural actuators, regulating each driving signal to said optimum magnitude and supplying said each driving signal to the actuator associated with one of said manipulators to be manipulated.