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. 28, 2023
Filed:
Dec. 24, 2019
Panasonic Intellectual Property Management Co., Ltd., Osaka, JP;
Hiroyuki Nakata, Osaka, JP;
Hiroyoshi Ueda, Osaka, JP;
Atsumi Hashimoto, Osaka, JP;
Ryosuke Yamamoto, Osaka, JP;
Yasuyoshi Honuchi, Osaka, JP;
Abstract
A robot control device includes the following: a main control unit; a servo control unit, which receives a position command θc from the main control unit; and a bending correction block (), which corrects the bending of the reduction gear connected to the servo motor. The bending correction block () includes the following: a first position-correction-value calculation means (), which finds a first position-command correction value θsgc based on the position command θc; and a second position-command-correction-value calculation means (), which finds a second position-command correction value θskc based on the interference torque τa. The servo control unit drives the servo motor based on a new position command obtained by adding the first position-command correction value θsgc and the second position-command correction value θskc to the position command θc.