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. 14, 2015
Filed:
Apr. 17, 2012
Yoshifumi Okitsu, Nagano, JP;
Masafumi Yamamoto, Nagano, JP;
Yuki Kato, Nagano, JP;
Makoto Iwasaki, Aichi, JP;
Yoshifumi Okitsu, Nagano, JP;
Masafumi Yamamoto, Nagano, JP;
Yuki Kato, Nagano, JP;
Makoto Iwasaki, Aichi, JP;
Harmonic Drive Systems Inc., Tokyo, JP;
National University Corporation Nagoya Institute of Technology, Aichi, JP;
Abstract
In a positioning apparatus for an actuator, a sliding mode controller for compensating for nonlinear characteristics of a wave gear device of the actuator generates a control input u to a controlled object, based on a position command θ* and a state variable x for expressing the controlled object. The controlled object is defined in the following formula.* The switching surfaces of the sliding mode control system are defined by a variable S expressed in the following formula. The control input u is the sum of the linear-state feedback control term uand the nonlinear control input u where σ is the switching function, and k is the switching gain.