Method for compensating for angular transmission error of wave gear device
US8296089B2 · kind B2 · utility
Assignees
Inventors
Key dates
| Filing date | Mar 8, 2010 |
| Grant date | Oct 23, 2012 |
| Priority date | — |
| Expiry date | Oct 12, 2030 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05B2219/49292
- WIPO fieldElectrical machinery, apparatus, energy
- WIPO sectorElectrical engineering
Abstract
A positioning system (1) provided with an actuator (2) having a wave gear device (4) is driven and controlled by a semi-closed loop control for controlling the load position of a load device (5) based on the motor position of a motor shaft (31) of a motor (3). In a method for compensating for an angular transmission error by compensating for a motor shaft synchronous component θSync that occurs in synchrony with the motor position and is a relative rotation-synchronous component that includes an angular transmission error component of the wave gear device (4), the positioning system (1) is represented as a two-inertia model, and the motor shaft synchronous component θSync is represented as an oscillation source for producing a twisting action between the two inertia bodies in the two-inertia model. A motor current command iref is corrected by a compensation current command icomp calculated so as to allow the effect of the motor shaft synchronous component θSync on the load position to be compensated in this case, and a motor position command r is corrected by a motor position correction signal θcomp calculated in order to compensate for the effect of the motor shaft synchronous com…
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.