VIBRATION INHIBITION SYSTEM, VIBRATION INHIBITION METHOD, AND PROGRAM

摘要

To provide a vibration inhibition system including change means that changes a gain, which is employed by estimation means, so that an adverse effect of augmentation of a modeling error gets smaller during a period when an error in modeling a mechanical system augments.SOLUTION: A vibration inhibition system 20 inhibits vibration of an operating unit (arm) included in a mechanical system 10 that includes the operating unit, an actuator (motor) which activates the operating unit, and an elastic body which links the operating unit and the actuator, and that has an inherent vibration mode. The vibration inhibition system includes production means that produces a driving signal which drives the actuator, estimation means 30 that estimates a measurement quantity concerning the mechanical system, correction means 33 that corrects the driving signal, which is produced by the production means, on the basis of the measurement quantity estimated by the estimation means, and change means 34 that changes a gain, which is employed by the estimation means, so that an adverse effect of augmentation of a modeling error gets smaller during a period when an error in modeling the mechanical system augments.SELECTED DRAWING: Figure 4