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:
May. 14, 2013
Filed:
Mar. 28, 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
According to a method for performing adaptive friction compensation of an actuator including a wave gear drive, there is used as a friction compensation current applied to a motor drive current a static friction compensation current iwhen a motor shaft stops with a deviation, and a Coulomb friction compensation current iin other circumstances. The static friction compensation current iis obtained by adding a compensation amount iof a monotonically increasing ramp function to a compensation amount iof a step function, and a step-function compensation amount iis used as the Coulomb friction compensation current i. Since the amount of friction compensation can be changed adaptively based on the data during positioning-control response, a motor shaft can be stabilized at a target angle without prominent accompanying vibration, even if the ambient temperature changes and the friction characteristics of the wave gear drive fluctuate.