简介：It is desirable to realize a technology that can easily reduce vibrations of a holding part and an article held by the holding part that occur when the holding part moves forward and backward. [Solution] The article transfer device 1 includes a holding unit 21 that holds an article 2, an outgoing/retracting drive unit M3 that moves the holding unit 21 forward and backward, and a control unit that controls the outgoing/retracting drive unit M3. In an outgoing/retracting operation in which the holding unit 21 is extended or retracted by the outgoing/retracting drive unit M3, the control unit sets an output command value as a moving average of a set period of command values indicated in the reference command pattern based on a reference command pattern that is a time-varying pattern of command values for position, speed, or acceleration such that acceleration changes in a step-like manner over time, and controls the outgoing/retracting drive unit M3 in accordance with the output command value. [Selected figure] Figure 3展开
