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:
Jan. 23, 2018
Filed:
Aug. 02, 2012
Takashi Wada, Hyogo, JP;
Yoshiharu Nishida, Hyogo, JP;
Shuichi Inada, Kanagawa, JP;
Yoshihide Inoue, Kanagawa, JP;
Takashi Wada, Hyogo, JP;
Yoshiharu Nishida, Hyogo, JP;
Shuichi Inada, Kanagawa, JP;
Yoshihide Inoue, Kanagawa, JP;
Kobe Steel, Ltd., Hyogo, JP;
Abstract
Provided are a control method and a control device that can make the range of periodic activity (amplitude of reciprocal movement) of an object of control, such as an industrial robot, the same as a case in which the reduction device has no backlash or the same as the amplitude of a position instruction signal. A control device () that carries out position control for an arm (), which carries out periodic movement, while compensating for backlash in the arm () is provided with a control unit () that adds to a position instruction signal, which gives instructions for the position of the arm (), a backlash quantity signal after the backlash quantity signal has been shifted so as to be delayed by a delay time, generates a final position instruction signal, and carries out position control of the arm () on the basis of the final position instruction signal that has been generated, said backlash quantity signal compensating for backlash.