during the standstill state and torque required by the controlled object to initiate the movement and a torque compensation amount vsfc 2 to an amount of change in friction that occurs during a transition from static friction to kinetic friction in a period immediately before and after initiation of the movement vsfc 1 and vsfc 2 are then used to calculate compensated values of the torque command value u03c4c positional tracking deviation generated due to friction during a movement initiation can thereby be reduced regardless of operational conditions during the standstill state or of the movement direction and velocity effected thereafter application_number US 42406303 A description fig1 is a block diagram showing a first example configuration of a positional control device according to a preferred embodiment of the present invention in the positional control device of fig1 components identical to those described above in relation to fig5 are labeled with the same names and reference numerals and explanation of those components will not be repeated in this section the initial friction compensation calculating section according to the present invention is described as follows a movement initiation detector 1 receives input of a velocity command value v and outputs an initiation detection signal fst fst is a binary signal indicating either on or off in which on is output in a form of a pulse according to 8 a friction compensation torque calculator 2 receives the movement initiation detection signal fst and outputs two friction torque compensation values u03c4sfc 1 and u03c4sfc 2 determined by equations 9 and 10 in accordance with the sign of the velocity command value v and a torque command value u03c4c u03c4 u2062 u2062 sfc u2062 u2062 1 u03c4 u2062 u2062 c u03c4 u2062 u2062 sfp u2062.