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. 23, 2013
Filed:
Apr. 06, 2011
Yoshifumi Okitsu, Azumino, JP;
Yuki Kato, Azumino, JP;
Kozo Sasaki, Azumino, JP;
Makoto Iwasaki, Nagoya, JP;
Yoshifumi Okitsu, Azumino, JP;
Yuki Kato, Azumino, JP;
Kozo Sasaki, Azumino, JP;
Makoto Iwasaki, Nagoya, JP;
Harmonic Drive Systems, Inc., Tokyo, JP;
National University Corporation Nagoya Institute of Technology, Aichi, JP;
Abstract
A method for controlling positioning of an actuator having a wave gear device uses an exact linearization technique to compensate effects relative to positioning control of a load shaft caused by the non-linear spring characteristics of the wave gear device. A plant model is constructed from the actuator, and linearized using the exact linearization technique; measurements are taken of non-linear elastic deformation of the wave gear device relative to load torque; the non-linear spring model τg(θtw) is defined using a cubic polynomial with the constant defined as zero to allow the measurement results to be recreated; and the current input into the model and motor position of the model when a load acceleration command is a command value are entered into a processor arranged as a semi-closed loop control system for controlling positioning of the load shaft, as a feed-forward current command and a feed-forward motor position command.