Method for compensating for angular transmission error of an actuator
US8013560B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Jan 13, 2009 |
| Grant date | Sep 6, 2011 |
| Priority date | — |
| Expiry date | Dec 17, 2029 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05B2219/41358
- WIPO fieldControl
- WIPO sectorInstruments
Abstract
The non-linear elastic deformation component included in the angular transmission error of an actuator provided with a wave gear drive is a component of the angular transmission error occurring due to elastic deformation of a flexible externally-toothed gear when the direction of rotation of the motor shaft changes. This component can be analyzed by driving the motor in a sine-wave shape. A model of the non-linear elastic deformation component (non-linear model) obtained from the analysis results is used to store data or a function for compensating for this component in a motor-control device. Compensation for the non-linear elastic deformation component (θHys) is added to a motor-shaft angle command (θ*M) as a compensation input (Nθ*TE) for feed-forward compensation. As a result, the non-linear elastic deformation component (θHys) can be effectively reduced, and the positioning precision of the actuator can be improved.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.