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:
Oct. 23, 2012
Filed:
Mar. 08, 2010
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;
National University Corporation Nagoya Institute of Technology, Nagoya-Shi, Aichi, JP;
Abstract
A positioning system () provided with an actuator () having a wave gear device () is driven and controlled by a semi-closed loop control for controlling the load position of a load device () based on the motor position of a motor shaft () of a motor (). In a method for compensating for an angular transmission error by compensating for a motor shaft synchronous component θSync that occurs in synchrony with the motor position and is a relative rotation-synchronous component that includes an angular transmission error component of the wave gear device (), the positioning system () is represented as a two-inertia model, and the motor shaft synchronous component θSync is represented as an oscillation source for producing a twisting action between the two inertia bodies in the two-inertia model. A motor current command iref is corrected by a compensation current command icomp calculated so as to allow the effect of the motor shaft synchronous component θSync on the load position to be compensated in this case, and a motor position command r is corrected by a motor position correction signal θcomp calculated in order to compensate for the effect of the motor shaft synchronous component θSync.