350 results about "Position control" patented technology

The invention belongs to the technical field of parallel robot controllers, and discloses a high-performance parallel robot controller based on an arm + fpga architecture, through deep heterogeneous fusion of an ARM and an FPGA, the control period is shortened to be within 10 microseconds, the trajectory tracking error is controlled to be 0.1 mm or below, and the performance bottleneck of a traditional architecture in a high-speed scene is solved; the multi-core ARM undertakes complex tasks such as global trajectory planning and dynamics solution, and realizes parallel processing by means of an NEON instruction set; the FPGA fully releases the hardware parallel characteristic of the FPGA, real-time tasks such as multi-axis motion control and sensor data fusion are synchronously completed through a distributed logic unit, and a complex decision-real-time execution assembly line cooperation mode is formed. Inertial parameters and load changes of the mechanical arm are estimated in real time through an LSTM neural network, and feedforward compensation is carried out on interference such as mechanical vibration and load abrupt change in combination with an extended state observer achieved through FPGA hardware; the innovatively designed double closed-loop control architecture supports seamless switching between a force control mode and a position control mode.

The invention discloses a dual-ring active-disturbance-rejection trajectory tracking control method for a four-rotor unmanned aerial vehicle, and the method comprises the steps: representing a dynamic coupling effect of the unmanned aerial vehicle caused by the load mass change and dynamic center-of-gravity shift through a six-degree-of-freedom flight dynamic model containing an asymmetric inertia matrix; an outer ring position control loop and an inner ring attitude control loop are constructed on the basis of an active disturbance rejection controller, and the following control cycles are executed in real time on the basis of integrating an extended state observer: the outer ring position control loop generates a position control signal and an attitude expected angle according to an expected track; the inner loop attitude control loop generates a control quantity for driving the unmanned aerial vehicle according to the attitude expected angle, and the two loops cooperatively work through decoupling logic to realize expected trajectory tracking; estimating and compensating unmodeled dynamics and external interference of the unmanned aerial vehicle in real time through the extended state observer; and dynamically adjusting parameters of the active-disturbance-rejection controller by adopting a particle swarm optimization algorithm.

The invention relates to the field of hydroelectric generation automation control, discloses an intelligent flow-pressure double closed-loop control method and system for a water inlet ball valve of a water turbine, and aims to solve the technical problems that flow stability and pressure fluctuation suppression are difficult to consider, dynamic response is delayed and working condition adaptability is poor in existing single-loop control. The method comprises the steps that inlet pressure and flow data are collected in real time through a pressure sensor and an ultrasonic flowmeter, a cascade structure of outer ring flow control and inner ring pressure control is constructed in combination with working condition parameters such as the rotating speed of a unit and the opening degree of a guide vane, and a working condition self-adaptive weight distribution module is introduced to dynamically adjust the double-ring gain coefficient; meanwhile, a feed-forward compensation mechanism and an optimal efficiency curve database are fused, and dynamic matching of set values and advanced response of load instructions are achieved. The system comprises a data acquisition unit, a double-closed-loop control unit, a weight distribution unit, an electro-hydraulic servo execution mechanism and a safety interlocking module, and supports microsecond-level gain updating and high-precision valve position control. According to the technical scheme, the adjusting precision and the response speed of the water turbine under the complex working condition are remarkably improved, the actual measurement efficiency is improved by 2.5%-4.8%, the adjusting time is shortened to be within 3 seconds, the positioning precision reaches + / -0.5 degree, and safe and stable operation of the system is guaranteed.

The invention relates to the technical field of intelligent control of injection molding machines, in particular to an injection molding machine closed-loop mold adjustment control system and method based on multi-sensor fusion and a self-adaptive algorithm, and the system comprises a sensing layer which adopts a multi-sensor fusion closed-loop feedback architecture and comprises a pressure sensing array, a displacement sensing unit and a temperature sensing array. The data acquisition module is used for synchronously acquiring mold clamping force, position and temperature data of a mold, constructing a three-dimensional error compensation model and realizing dynamic correction of the parallelism of the mold through space force field analysis; the execution layer comprises a servo motor, a belt wheel and a ball screw and is used for adjusting the position of the template; a double-closed-loop control module is arranged in the control layer, the double-closed-loop control module comprises outer ring mold clamping force control and inner ring position control, mold clamping force deviation serves as input of an outer ring, position correction is generated through a self-adaptive PID algorithm, the inner ring converts the position correction into a servo motor rotation angle instruction, and therefore precise control over the mold clamping force is achieved.

The invention discloses a hydraulic system preset time dynamic surface position control method, which is based on a dynamic surface control framework, innovatively introduces a preset time-varying function, and designs a nonlinear robust position controller with preset time. Aiming at the position control problem of the hydraulic cylinder of the hydraulic system, the differential explosion problem frequently occurring in the classic backstepping control design of the hydraulic system is avoided, the influence of measurement noise on the control precision is reduced, the controller design is simplified, and the excellent transient performance of the system within the preset time is guaranteed; and the convergence time can be clearly determined and does not depend on initial conditions of the system, so that the method has high-precision tracking performance.

The invention relates to the technical field of alignment control, in particular to a cloth turning seam allowance alignment control system based on machine vision, which comprises a gray wave crest identification module, a seam allowance edge identification module, an image segment alignment judgment module, a tension direction correction module and an alignment track adjustment module. According to the method, the recognition capability of image processing on edge distribution is enhanced by constructing a gray wave crest track, analyzing the distance stability and slope change between wave crests and accurately extracting a pattern rhythm region, structure recognition is carried out by utilizing the direction features and coordinate positions of gray abrupt change points, the dependence on a static feature template is avoided, and the accuracy of structure recognition is improved. According to the method, the adaptability of edge recognition is improved, alignment judgment is carried out between image segments through the direction consistency and coordinate trend relation of abrupt change points, dynamic recognition of inter-segment continuity is enhanced, the change of the included angle between the tension direction and the target connecting line drives selection of standby points and updating of target points, and the direction adaptability of the target points under tension disturbance is improved.

The invention discloses a positioning control method and system for metal cutting, and relates to the technical field of metal cutting. The method comprises the steps that when a laser cutting machine cuts a metal workpiece according to a cutting control scheme, a cutting monitoring data set is synchronously obtained; performing multi-dimensional cutting accident deduction according to the cutting monitoring data set to obtain a cutting accident deduction map; performing multi-degree-of-freedom adjustment on the cutting control scheme to obtain a first cutting adjustment space; performing cutting evaluation optimization on the first cutting adjustment space to obtain a second cutting adjustment space; performing cutting guarantee degree analysis optimization on the second cutting adjustment space to obtain a first cutting guide population meeting the preset cutting guarantee degree; and multiple rounds of propagation optimization are carried out, a cutting adjustment optimization result is determined, and optimized positioning control is carried out on the metal workpiece. The technical problems that in the prior art, the metal cutting positioning precision is insufficient, and the cutting process stability is poor are solved, and the technical effect of improving the metal workpiece cutting positioning precision and the cutting process stability is achieved.

A method of controlling position of a trawl net is provided. The method may comprise: receiving, by a processor, a control input, wherein the control input comprises: (i) a selection of one of a plurality of position control modes, and (ii) a position control setpoint for the trawl net; receiving, by the processor, sensor data indicating a sensed position of the trawl net; and generating, by the processor, a trawl position control output based on the control input, the sensor data and predicted trawl net position data. The predicted trawl net position data may be generated by: defining, by the processor, a plurality of parameters; receiving, by the processor, input data comprising vessel speed data, tow line payout data, and a candidate drag coefficient value for the trawl net; and determining, by the processor, a tow angle based on the plurality of parameters and the input data.

The invention discloses a direct current motor control and automatic detection system and method, the system comprises an upper computer, a lower computer and a CAN bus communication unit, the upper computer comprises a calibration module, a position control module, a self-inspection module and a communication interface, and the calibration module is used for initiating an automatic calibration instruction and receiving and displaying a calibration result; the position control module is used for generating a target position instruction and receiving and dynamically displaying the real-time position of the motor; the self-checking module is used for initiating a one-key self-checking instruction and displaying a self-checking result; the lower computer comprises a main control chip, the main control chip is provided with an H-bridge driving circuit and an encoder acquisition circuit, the H-bridge driving circuit is used for driving the direct current motor to rotate forwards and backwards, and the encoder acquisition circuit is used for acquiring motor position signals; the CAN bus communication unit is connected with the communication interface of the upper computer and the main control chip of the lower computer through the USB to CAN module; according to the invention, faults can be automatically detected in the production and use processes of the DC motor, and the efficiency of production personnel and the product quality are improved.

The invention discloses a three-bin type vacuum plug hole resin printing control system and method, and belongs to the technical field of printed circuits, and the three-bin type vacuum plug hole resin printing control system comprises the following modules: a feeding control module, an alignment control module, a feeding control module, a plug hole printing control module and a discharging control module. The three cabins which can be separated independently and communicated with one another are controlled, the telescopic feeding and discharging mechanism is matched, the vacuum state of the hole plugging cabin is guaranteed, meanwhile, one-way flow type product circulation can be completed, and the device is suitable for a PCB hole plugging printing production line with the high-beat and high-consistency requirements.

The invention relates to the technical field of position control feedback, and particularly provides a laser interference feedback positioning system and a positioning method thereof, and the system comprises a wave source phase modulation subsystem, a dynamic path compensation subsystem and a multi-dimensional feedback calibration subsystem. The method comprises the following steps: establishing a dynamic phase encoding model through nonlinear time sequence analysis; an original fixed phase beam of a laser wave source is converted into a tuning beam with space-time correlation, and a phase characteristic matrix of the tuning beam is used as an input parameter of a dynamic path compensator; constructing a compensation field model based on the tuning beam phase feature matrix; generating a dynamic compensation gradient by using the phase characteristic matrix; integrating the dynamic compensation gradient and the environment sensing data of the laser wave source, and constructing a six-dimensional state space calibration model; and outputting comprehensive positioning parameters including the displacement vector, the confidence interval and the environmental stability coefficient. Static measurement of a traditional interferometer is converted into an active regulation and control process with high adaptability and controllable errors.

The invention discloses an intelligent upsetting riveting method of an automatic drilling and riveting machine based on force-position hybrid control, and relates to the field of intelligent riveting control, and the method comprises the following steps: driving a riveting shaft to be fed to a preset approaching area at a first movement speed through a position control mode; based on real-time displacement feedback and dynamic error judgment of a target position, a control mode is triggered to be seamlessly switched to a force control mode; in the force control mode, force signals fed back by a pressure sensor are synchronously collected through a distributed real-time I / O system; when the force signal reaches a dynamically-calibrated preset threshold value, the feeding motion of the riveting shaft is stopped immediately to complete upsetting and riveting forming; and then the riveting shaft is controlled to reversely break away from the riveting area at the second movement speed. According to the scheme, the control precision and stability of riveting force can be remarkably improved, riveting force fluctuation caused by material deformation or external interference is effectively restrained, and therefore the consistency of upset head forming quality and the reliability of a connecting structure are guaranteed.

The invention discloses a process-in-the-loop numerical control device and method, and belongs to the technical field of numerical control. The process-in-the-loop numerical control device comprises a non-real-time process optimizer, and the non-real-time process optimizer carries out process optimization processing on original track data input by a user based on a track error prediction model of deep learning; comprehensive errors generated in the multi-axis machining process are effectively compensated; the interpolator and the position controller are used for calculating a middle point coordinate of the movement track and accurately controlling the cutter to reach a target position; the process prediction observer constructs a dynamic observer by using a neural network technology, and carries out real-time feed-forward compensation in the processing process; and the physical machine tool carries out machining operation. According to the technology-in-the-loop numerical control device and method, the non-real-time technology optimizer and the technology prediction observer are added, the machining technology is subjected to deep fusion prediction, optimization and dynamic closed-loop control through virtual machine tool simulation and physical machine tool feedback, the machining track is optimized in real time, and errors are compensated.

Provided is an information processing apparatus including: a first member provided with a first movable part; a second member connected to the first member; a signal acquisition unit that acquires a first control signal for controlling a position of the first movable part; and a position control unit that controls the position of the first movable part in accordance with the first control signal.

The invention discloses a crane three-axis linkage anti-swing positioning control method, device and equipment and a storage medium, and relates to the technical field of crane control, and the method comprises the following steps: obtaining a cart X-axis current position, a trolley Y-axis current position, a lifting Z-axis current position and a three-axis target position sent by a programmable logic controller; according to the current position of the cart X axis, the current position of the trolley Y axis, the current position of the lifting Z axis and the target positions of the three axes, a three-axis cooperative motion path is planned through an input shaping control algorithm and a position control algorithm; generating a cart speed given value, a trolley speed given value and a lifting speed given value based on the three-axis cooperative motion path; and the cart speed set value, the trolley speed set value and the lifting speed set value are sent to a programmable logic controller, so that a cart frequency converter, a trolley frequency converter and a lifting frequency converter drive three shafts to synchronously run to three-shaft target positions. According to the invention, three-axis linkage high-precision anti-swing positioning of the travelling crane is realized.

This invention relates to the field of collaborative control system technology and discloses a multi-actuator collaborative system and production line based on real-time operation. The system includes: collecting motion parameters of the actuators and the deviation rate of the previous-level actuators based on a multi-actuator collaborative control environment; transmitting the motion parameters to a local model for analyzing the motion state of the actuator; analyzing the collected parameters of other actuators based on the local model and calculating the deviation rate of the actuators deployed with the local model in the current operating state; and determining whether to optimize the actuator's action based on a threshold of the deviation rate in the operating state. This invention accurately quantifies the position deviation of the actuators using the Euclidean distance formula in three-dimensional space, providing basic data for deviation rate calculation, ensuring the accuracy of position control, and avoiding collaborative control failure due to accumulated errors when multiple operating systems work together.

The invention discloses a crane position control method and system based on MPC and a control obstacle function. The method comprises the steps that S101, all to-be-controlled parameter values are calculated according to given positions; s102, solving an optimal control sequence u at the moment according to a predictive control algorithm; s103, designing a state observer according to the output y, the input u and the state at the moment, observing the state at the next moment, designing by adopting a full-dimensional linear state observer method, and adjusting parameters by adopting a DLQR method to obtain state information at the next moment for the step S102 at the next moment; and S104, the output of the real system is measured and sent to the step S103 at the next moment, and the predictive control algorithm is a model predictive control algorithm fused with the control barrier function. According to the crane position control method and system based on the MPC and the control barrier function provided by the invention, the model prediction control is combined with the control barrier function, so that the crane can reach a specified position.

The invention provides an anchor rod drilling machine automatic hole finding and positioning system and method based on machine vision, and belongs to the technical field of anchor rod drilling machine automatic hole finding and positioning. In order to solve the technical problems of low manual operation precision, poor efficiency and poor automation scheme adaptability during anchor rod supporting, the adopted technical scheme is as follows: a binocular vision camera and a laser displacement sensor are arranged on an anchor rod drilling machine vehicle body; a drilling machine controller, a tilt angle sensor, an industrial switch, a drilling machine electric control box and a communication module are arranged in a jumbolter body, the drilling machine controller is connected with other modules or components through wires, a positioning target and a wireless AP base station are further arranged in a roadway, and the communication module is in wireless connection with the wireless AP base station through a wireless network. A positioning console is arranged in the control room, and a positioning control computer, a core switch and a drilling positioning server are further arranged in the positioning console; the method is applied to automatic hole finding and positioning of the jumbolter.

This control system controls a cutting machine. The control system comprises a position control unit, a speed control unit, a torque control unit, a filtering unit, and a compensation unit. The position control unit controls the position of a motor on the basis of a motor position command. The speed control unit controls the speed of the motor on the basis of the output of the position control unit. The torque control unit controls the torque of the motor on the basis of the output of the speed control unit. The filtering unit has at least one filter which extracts a periodic vibration component of the motor. The compensation unit outputs, on the basis of the periodic vibration component extracted by the filter, a compensation command for compensating the torque of the motor. The periodic vibration component is in a frequency band which is lower than a cutting frequency regarding the cutting of a workpiece.

The invention discloses a precise drilling and milling equipment control method and system for a PCB, and relates to the technical field of intelligent manufacturing, and the method comprises the steps: collecting heat sensor data and visual camera data in real time, carrying out the preprocessing, and generating a coordinate data stream; constructing a thermal deformation model, deducing a three-dimensional thermal drift amount through the coordinate data flow, and generating a predicted compensation value and a target position of drilling and milling equipment; the drilling and milling equipment is controlled to execute the intermediate instruction after the first compensation, and the visual offset and the current thermal field data when the drilling and milling equipment moves are collected in real time; according to the visual offset and the current thermal field data, performing space-time gradient coupling optimization on the intermediate instruction after the first compensation to obtain a secondary fine tuning instruction and inputting the secondary fine tuning instruction into the drilling and milling equipment; and outputting a comprehensive precision report after the drilling and milling equipment finishes processing, and carrying out persistent storage. According to the method, the thermal deformation model and the Nash equilibrium trajectory decision-making mechanism are constructed, and space-time gradient online compensation is combined, so that the problem of high-precision trajectory dynamic drift suppression is solved.

The application provides a performance function self-adjusting control method for improving the performance of a quad-rotor flight, first constructs a global performance function with self-adjusting capability, sets an infinite initial value to adaptively constrain the tracking error of the quad-rotor unmanned aerial vehicle; then sets a performance indicator function as a dynamic feasibility monitoring benchmark of the quad-rotor unmanned aerial vehicle, monitors and judges the current flight state of the unmanned aerial vehicle in real time; then constructs a segmented continuous auxiliary system to adjust the boundary parameters of the performance function; for the position control layer of the quad-rotor unmanned aerial vehicle, a control law is designed and deployed based on the self-adjusting performance function; in an indoor obstacle environment, the autonomous flight task of the quad-rotor unmanned aerial vehicle is executed in combination with multiple modules, the performance function is automatically adjusted, and the dynamic balance between safety and precision of the trajectory tracking of the quad-rotor unmanned aerial vehicle is realized.

The application provides a hydraulic valve positioning control method and control system based on a sensorless stepping motor, and the method comprises the following steps: controlling the sensorless stepping motor to drive the spool of the hydraulic valve to move for system initialization, and determining the absolute zero point position and coordinate establishment by detecting the locked-rotor of the stepping motor; in the position control process, the total micro-step number is calculated according to the target position and the absolute zero point position, and the planned micro-step increment of each control period is determined according to the motor speed; before the execution of each control period, it is judged whether the planned micro-step increment will exceed the remaining micro-step number after execution, and the actual execution micro-step number is corrected; the cumulative execution micro-step number and the remaining micro-step number are updated according to the actual execution micro-step number, and the target position is reached until the remaining micro-step number is 0 in a certain control period. The application does not depend on any physical position sensor, realizes high-reliability locked-rotor detection and zero-point self-calibration through a magnetic field orientation control algorithm, and then realizes accurate and reliable positioning of the spool.

A replacement structure for a hold-down head of a pressure testing machine comprises a pressure testing machine body, a hydraulic cylinder, a fixing cover, a worm gear, a worm, a fastening clamping sleeve, a center shaft sleeve and the hold-down head, the hydraulic cylinder is provided with a fixing plate, the fixing plate is connected with the pressure testing machine body, the hydraulic cylinder is provided with a piston rod, the piston rod penetrates through the pressure testing machine body and is connected with a mounting sleeve, and the mounting sleeve is connected with the worm gear. The right side of the worm gear is provided with an outer supporting plate, the outer supporting plate is provided with a bearing plate, the outer supporting plate is attached to the worm gear, the worm gear is provided with a position control rod, the position control rod is sequentially connected with the outer supporting plate, the fixing cover and the central shaft sleeve, and position control protruding blocks are arranged on the two sides of the central shaft sleeve. The position control rod is provided with a position control groove, the position control protruding block is matched with the position control groove, the position control protruding block is connected with the position control groove, the position control rod is provided with a fastening supporting rod, the fastening supporting rod is connected with the inner side of a fastening supporting sleeve, and the outer portion of the fastening supporting sleeve is connected with a fastening clamping sleeve.

The invention discloses a model prediction direct position control method based on point-to-point trajectory planning, and belongs to the technical field of motor control. The method comprises the following steps: measuring a three-phase current signal, a rotating speed signal and a position signal of the PMSM; converting the three-phase current signal into a current component under a two-phase static coordinate system through Clark conversion; performing Park transformation to obtain a d-q coordinate system current signal; and performing voltage prediction to generate a d-q axis voltage control signal. Planning a target curve trajectory; and performing online prediction and rolling optimization. According to the invention, bandwidth limitation of a traditional cascade structure is broken through, position loop time delay is reduced, speed oscillation and position overshoot near a target positioning point are suppressed, stability of a control system is improved, multi-target collaborative optimization of position, rotating speed and current is realized, and economical efficiency and engineering practicability are both realized.

A work implement position sensor (20) detects the position of a work implement (2). A controller (50) identifies a passing point (P1A) through which a bucket (8) passes during rotation of a rotating body (3) based on a detection result by the work implement position sensor (20), calculates a corrected passing point (P1B or P1C) by adding a vertical offset derived from shape data of the bucket (8) to the height position (HA) of the passing point (P1A), and controls the bucket (8) so that it passes the corrected passing point (P1B or P1C) during rotation.

To provide a three-position control device and a three-position control method capable of rapidly and accurately displacing a control object to an intermediate position, and capable of stably maintaining the displaced control object in a stop condition at an intermediate position.SOLUTION: A three-position control device includes a cylinder device, a fluid controller, and a displacement regulating device. The cylinder device displaces a piston to each of a retreating position, an intermediate position, and an advancing position. The cylinder device includes a first fluid chamber for retreating, and a second fluid chamber for advancing. The fluid controller switches the advancing and retreating position of the piston. A second working pressure at displacing from the intermediate position to the advancing position is set to be larger than a first working pressure at displacing from the retreating position to the intermediate position. The displacement regulating device includes a load receiver and energizing means. Energizing force of the energizing means is set to be larger than thrust by the first working pressure and smaller than thrust by the second working pressure.SELECTED DRAWING: Figure 9

The invention provides a multi-mechanical-arm cooperative control method and system and a storage medium, and the position control method comprises the steps that a multi-arm coupling dynamic model is constructed based on multiple mechanical arms according to the process requirements of task execution, and the multi-arm coupling dynamic model is used for position decomposition and stress distribution of the multiple mechanical arms; based on the multi-arm coupling dynamics model, decomposing the execution task to form a plurality of sub-task segments; based on each subtask segment, a cooperative controller group is established, and the cooperative controller group is established by controllers corresponding to a plurality of mechanical arms under one main end; and controlling each mechanical arm to execute the path of each sub-task section through the cooperative controller group. The problems that in the prior art, during cooperative operation of multiple mechanical arms, uncertainty is caused in an unknown working environment and a task target, and coordination and self-adaptability among the mechanical arms are poor are solved.

A method for controlling a flow regulating valve (6) of a filling machine (1) forming composite packages (2) from a multilayer composite packaging material and filling the composite packages with a pourable filling product, wherein a position of the regulating valve controls the flow of the product filling the packages, the method envisages: implementing a flow feedback control, receiving a flow set point (FSP) and an inlet flow measurement (FIN) and generating a feedback control contribution (CFB) indicative of a difference between the inlet flow measurement and the flow set point; implementing a flow feed-forward control, receiving the flow set point (FSP) and generating a feedforward control contribution (CFF) using fluid-dynamic maps, which map an output position of the regulating valve with respect to flow and pressure values of the filling product; generating a virtual pressure (PV) based on the feedback control contribution (CFB) generated at the output of the flow feedback control module, wherein the flow feed-forward control receives the virtual pressure (PV) and generates at its output the feedforward control contribution (CFF) based on the flow set point (FSP) and the virtual pressure (PV) using the fluid-dynamic maps. The feedforward control contribution (CFF) determines a control signal (Sc) for adjusting an operating position of the flow regulating valve (6).

An input device is proposed comprising one or more control elements (22) with a first surface (24) facing the user and a second surface (25) opposite the first surface (24) and facing away from the user, and comprising one or more actuators (26) for moving one or more of the control elements (22) between a starting position and an end position. The input device (20) includes a receiving element (28) with a user-facing surface (29) for receiving one or more control elements (22), wherein the user-facing surface (29) of the receiving element (28) and the first surface (24) of one or more control elements (22) are arranged on the same plane in the starting position, and wherein the first surface (24) of the control element (22) is extended or lowered relative to the receiving element (28) in the end position.The input device (20) comprises a cam disk (36) which is rotatable by means of the actuator (26) and a rod (27) which is arranged with a first end on the control element (22) and with a second end opposite the first end on the cam disk (36) such that the rotational movement of the cam disk (36) can be converted into a movement of the rod (27) and wherein the control element (22) can be moved between the starting position and the end position by the movement of the rod.

To provide a position and force control device that can prevent deterioration of position tracking performance even when a limit value of a contact force allowed for contact with a control object is small and when the error between a position command value and a position response value is large.SOLUTION: A position and force control device 1 includes a position controller 2, a saturation compensator 3, and a force controller 4. When a control object is in contact with an environment 6 (Ksw=0) and an allowable upper limit value (fcmd) or an allowable lower limit value (-fcmd) of a contact force at which the control object comes into contact with the environment 6 is a force reference value frefp or less or more, the saturation compensator 3 outputs a limit value that limits the force reference value to the upper limit value or the lower limit value as a force demand value fref. When the control object is in contact with the environment 6 (Ksw=0) and the force reference value does not exceed or fall below the upper limit value or the lower limit value, or when the control object is not in contact with the environment 6 (Ksw=1), the saturation compensator 3 outputs the force reference value as the force demand value.SELECTED DRAWING: Figure 1