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:
Jan. 20, 1998
Filed:
Sep. 12, 1996
Stephen J Yutkowitz, Cincinnati, OH (US);
R William Kneifel, II, Cincinnati, OH (US);
Stephen T Walsh, Cincinnati, OH (US);
Trinova Corporation, Maumee, OH (US);
Abstract
Compensation for friction affecting motion of moveable machine members is effected in servo control of the member actuators. An estimate of velocity is used in evaluation of a model of frictional force to produce compensation values. Alternative embodiments provide continuous models of estimated velocity and frictional forces and state models of estimated velocity and frictional forces. Compensation values determined according to either embodiment may be produced for application to servo control commands such as position or torque. The compensation accounts for step changes of friction upon reversal of direction of travel.