Motor velocity control apparatus and method
US8886360B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Sep 29, 2011 |
| Grant date | Nov 11, 2014 |
| Priority date | — |
| Expiry date | May 2, 2033 |
Classification
- Technology area (CPC Y)Emerging Cross-Sectional Technologies
- CPC primaryY10S901/20
- WIPO fieldControl
- WIPO sectorInstruments
Abstract
A motor velocity control apparatus and method in which the velocity of a motor to drive a joint of a robot is controlled. The method includes generating a velocity profile of the motor based on velocity profile generation data received from a user; judging whether one velocity section selected from velocity sections divided from the generated velocity profile corresponds to a high velocity region, where the high velocity region corresponds to an acceleration compensation section in which an acceleration section transitions to a constant velocity section; estimating an acceleration corresponding to the current velocity of the motor, upon judging that the velocity section corresponds to the high velocity region, the acceleration corresponding to the current velocity is estimated using an acceleration-velocity graph in the acceleration compensation section or a deceleration compensation section; compensating for the velocity profile using the estimated acceleration; and driving the motor using the compensated velocity profile.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.