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:
Mar. 17, 2020
Filed:
Nov. 18, 2015
Applicant:
Ixblue, Saint-Germain-en-Laye, FR;
Inventor:
Bernard Vau, Saint Maur des Fosses, FR;
Assignee:
IXBLUE, Saint-Germain-en-Laye, FR;
Attorney:
Primary Examiner:
Int. Cl.
CPC ...
G05B 13/04 (2006.01); G05B 19/19 (2006.01); G05B 17/02 (2006.01); G06F 17/14 (2006.01);
U.S. Cl.
CPC ...
G05B 13/042 (2013.01); G05B 17/02 (2013.01); G05B 19/19 (2013.01); G05B 2219/41161 (2013.01); G06F 17/14 (2013.01);
Abstract
A dry friction compensation method for at least one mass or inertia M mobile under the effect of at least one effector element controlled by a force or torque control signal U, the motion of the mass or inertia being characterized by a motion signal Y chosen among one or several of the position X, the speed V and the acceleration, the method includes: defining an ideal model of the closed loop; defining a dry friction compensation control law; the dry friction compensation control law being based on the following friction model: