Patent ID: 7102311

Claim:
A drive controller comprising: a control means configured to detect a position of a driven element and to perform feedback control to cause the driven element to move by a driver based on a position command and the detected position; a collision detecting means configured to detect a collision of the driven element; and a collision processing means, wherein the control means controls the driven element by the driver to cause the driven element to continue its current movement, by adding a first control signal for feedback control of movement of the driven element to a second control signal for continuing the current movement of the driven element and by inputting the added signal to the driver, in addition to the feedback control of the movement of the driven element, the collision detecting means detects the collision of the driven element based on an estimated speed deviation which is an estimated deviation from an actual speed of the driven element or an estimated acceleration deviation which is an estimated deviation from an actual acceleration of the driven element, and the collision processing means causes the driven element to reverse a movement before the collision after causing the driven element to stop continuation of the current movement by the control means by setting a value of the second control signal to zero, based on a signal indicating that a collision has been detected.