Control apparatus of motor

A control apparatus of a motor that is applied to a robot comprising a joint part and a link, the joint part comprising a motor, a decelerator, and a sensor, the link being driven by the motor via the decelerator and receiving a reaction force from an environment, the control apparatus of the motor controlling the motor by a combination of a feedback control and a feedforward control, the control apparatus of the motor comprising:

• a first feedforward calculator configured to calculate a number of rotations of the motor to be instructed for generating a torque indicated by a torque command signal in the joint part based on at least a model of the motor, the decelerator or the link and the torque command signal of the motor, and calculate a first motor output torque value so that the number of rotations of the motor to be instructed is achieved;
• a second feedforward calculator configured to calculate a second motor output torque value based on the torque value indicated by the torque command signal;
• and
• a comparator configured to add the first motor output torque value, the second motor output torque value, and a third motor output torque value calculated based on the torque value detected by the sensor and the torque value indicated by the torque command signal.