Servomotor control apparatus
US4916375A · kind A · utility
Assignee
Inventors
Key dates
| Filing date | Aug 4, 1988 |
| Grant date | Apr 10, 1990 |
| Priority date | — |
| Expiry date | Aug 4, 2008 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05B2219/41426
- WIPO fieldControl
- WIPO sectorInstruments
Abstract
The invention is a servomotor control apparatus for controlling the positioning of a movable element of an industrial robot or NC machine tool. An NC unit or a robot controller detects displacement from a movable element that is to be positioned, such as a table, forms a position command regarding a servomechanism, and has a correction circuit (A) which receives quadrant data (BLF) regarding a backlash correction command. When there is a quadrant reversal for each axis of the movable element, frictional torque corresponding to the axis is stored and a torque correction command (FR) corresponding thereto is outputted. A torque command of a fully-closed loop servo system for performing control based on a fed back position detection signal is corrected by the torque correction command. The servomotor control apparatus can be applied to semi-closed loop servo system in which a backlash correction is possible, and not just to a fully-closed loop servo system.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.