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:
Jul. 07, 2015
Filed:
Oct. 24, 2011
Masafumi Yamamoto, Azumino, JP;
Yoshifumi Okitsu, Azumino, JP;
Makoto Iwasaki, Nagoya, JP;
HARMONIC DRIVE SYSTEMS INC., Shinagawa-Ku, Tokyo, JP;
NATIONAL UNIVERSITY CORPORATION NAGOYA INSTITUTE OF TECHNOLOGY, Nahoya-Shi, Aichi, JP;
Abstract
A positioning control system for an actuator provided with a strain wave gearing is provided with: a semi-closed feedback controller FB(s) that controls a load shaft position θon the basis of a feedback motor shaft position θ; and a feedforward linearization compensator configured by incorporating a nonlinear plant model for an object to be controlled into a feedback linearization compensator using an exact linearization technique. The feedforward linearization compensator uses a forward-calculated state quantity estimated value x* to calculate a feedforward current instruction i*and a feedforward motor position instruction θ*to be input into the feedback controller FB(s). A positioning error caused by a non-linear element (non-linear spring property, relative rotational synchronization component, and non-linear friction) of the strain wave gearing is compensated for by the feedforward linearization compensator.