The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Aug. 07, 2018
Filed:
Sep. 01, 2015
National University Corporation Nagaoka University of Technology, Nagaoka-shi, Niigata, JP;
Nabtesco Corporation, Tokyo, JP;
Kiyoshi Ohishi, Niigata, JP;
Yuki Yokokura, Niigata, JP;
Yosei Hirano, Niigata, JP;
Koji Nakamura, Mie, JP;
Masataka Sato, Mie, JP;
NATIONAL UNIVERSITY CORPORATION NAGAOKA UNIVERSITY OF TECHNOLOGY, Niigata, JP;
NABTESCO CORPORATION, Tokyo, JP;
Abstract
This application discloses a control device for controlling a motor configured to drive an oscillatory cyclo-speed reducer including an oscillatory gear portion formed with at least one hole at an eccentric position. The control device includes an angle acquirer for acquiring input information about an input rotational angle indicating a rotational angle of the motor, an estimator for estimating an angular error between the input rotational angle and an output rotational angle indicating a rotational angle of the oscillatory cyclo-speed reducer based on a quantity of the hole(s) and a corrector for determining a compensation current value in correspondence to the angular error and setting a magnitude of a current to be supplied to the motor by correcting a command current value using the compensation current value.