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:
Sep. 23, 2025
Filed:
May. 17, 2021
Fanuc Corporation, Yamanashi, JP;
Shun Takarazawa, Yamanashi, JP;
Satoshi Ikai, Yamanashi, JP;
Fanuc Corporation, Yamanashi, JP;
Abstract
A control device includes: a command generating unit that generates a command for a motor; a correction-amount calculating unit that performs correction-amount calculation processing for calculating a correction amount for the command on the basis of elastic parameters of elastic elements; and a stage detecting unit that detects the fact that a transition has been made from a first stage in which a driving force generated by the motor acts on the first elastic element to a second stage in which the driving force acts on the second elastic element via the first elastic element. When the transition from the first stage to the second stage is detected, the correction-amount calculating unit switches from first correction-amount calculation processing based on the first elastic parameter of the first elastic element to second correction-amount calculation processing based on the second elastic parameter of the second elastic element and the first elastic parameter.