Eccentricity error correction method for angle detector and robot system
US10899013B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Jul 12, 2018 |
| Grant date | Jan 26, 2021 |
| Priority date | — |
| Expiry date | Apr 10, 2039 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05B2219/37515
- WIPO fieldHandling
- WIPO sectorMechanical engineering
Abstract
In an eccentricity error correction method for an angle detector, an output shaft angle is determined in at least three measurement positions. A difference between an arm angle value at each measurement position and the output shaft angle detected at each measurement position is determined as an eccentricity error. An error curve indicates a relationship between the arm angle value and the eccentricity error, and is determined as a function of the arm angle value by approximating the eccentricity error at each measurement position with a sine wave of which a single cycle is a single rotation of the arm. A correction formula that associates the output shaft angle and the arm angle value is determined using the error curve. A correction value corresponds to the detected output shaft angle, and is determined based on the correction formula and correcting the eccentricity error when the arm is rotated.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.