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. 06, 2011
Filed:
Jan. 13, 2009
Kozo Sasaki, Azumino, JP;
Yoshifumi Okitsu, Azumino, JP;
Toshio Yajima, Azumino, JP;
Makoto Iwasaki, Nagoya, JP;
Kozo Sasaki, Azumino, JP;
Yoshifumi Okitsu, Azumino, JP;
Toshio Yajima, Azumino, JP;
Makoto Iwasaki, Nagoya, JP;
Harmonic Drive Systems Inc., Tokyo, JP;
Abstract
The non-linear elastic deformation component included in the angular transmission error of an actuator provided with a wave gear drive is a component of the angular transmission error occurring due to elastic deformation of a flexible externally-toothed gear when the direction of rotation of the motor shaft changes. This component can be analyzed by driving the motor in a sine-wave shape. A model of the non-linear elastic deformation component (non-linear model) obtained from the analysis results is used to store data or a function for compensating for this component in a motor-control device. Compensation for the non-linear elastic deformation component (θ) is added to a motor-shaft angle command (θ*) as a compensation input (Nθ*) for feed-forward compensation. As a result, the non-linear elastic deformation component (θ) can be effectively reduced, and the positioning precision of the actuator can be improved.