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:
Apr. 18, 2006
Filed:
Dec. 10, 2002
Kazuhiro Tsuruta, Fukuoka, JP;
Nobuhiro Umeda, Fukuoka, JP;
Keisei Inoki, Fukuoka, JP;
Kabushiki Kaisha Yaskawa Denki, Fukuoka, JP;
Abstract
A control constant adjusting apparatus in a control apparatus of a robot or a machine tool, etc. is disclosed. This control constant adjusting apparatus includes a speed control part (), an estimation part (), an identification part () and an adjustment part (). The identification part () makes identification of inertia J obtained from a ratio between a value |SFTr| in which an absolute value |FTr| of a value FTr obtained by passing a torque command Tref of the speed control part () through a predetermined high-pass filter is integrated with respect to time at a predetermined interval [a, b] and a value |SFTr'| in which an absolute value |Ftr′| of a value FTr′ obtained by passing a model torque command Tref′ of the estimation part () through a predetermined high-pass filter is integrated with respect to time at the same interval only when a speed Vfb′ of a model in the estimation part () matches with a motor speed Vfb in the speed control part () at a value other than zero.