Patent ID: 7627387

Claim:
A command generating device for controlling a machine comprising: a command shape calculating means for calculating 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 so that a convolution of a velocity command which is a first derivative with respect to time of the position command and an impulse response of a transfer function which is determined from a frequency of a vibration which occurs in said target to be driven and controlled becomes equal to zero, the convolution being calculated over a time period from said positioning time onward; and an associating processing means for integrating the 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 to actuate and control a machine.