---
publication_id: "OT-2026-000001433"
title: "Position control device"
published_at: "2026-09-15T19:05:48.656539Z"
canonical_url: "https://opentechnical.org/p/OT-2026-000001433"
categories:
  - "robotics-automation/robot-architectures"
keywords:
  - "b25j9/1641"
  - "b25j9/1641"
  - "b25j9/12"
  - "b25j9/12"
  - "b25j9/12"
  - "b25j9/16"
---

# Position control device

## Abstract

A position control device for a target plant includes a coefficient calculation unit that performs temporary operation of the target plant so as to reverse a direction of travel of the target plant with backlash compensation turned off and calculates a coefficient for reverse detection for each of a plurality of backlash portions, based on a position command value at a timing when a position deviation between a position detection value for a load end and the position command value increases rapidly, a reverse detection unit that operates the target plant with the backlash compensation turned on and detects a timing when a load-side transmission torque is reversed, based on the coefficient, the position command value, and a moment of inertia of the entire load, and a compensation value calculation unit that increases or decreases a backlash compensation value at the timing when reverse is detected.