Cogging torque measurement for a robot actuator
US9205556B1 · kind B1 · utility
Assignee
Inventors
Key dates
| Filing date | Jun 20, 2014 |
| Grant date | Dec 8, 2015 |
| Priority date | — |
| Expiry date | Jun 20, 2034 |
Classification
- Technology area (CPC H)Electricity
- CPC primaryH02P25/098
- WIPO fieldMeasurement
- WIPO sectorInstruments
Abstract
Systems and methods for measuring cogging torque. An example method includes causing an electric motor to rotate in a positive direction, and for given multiple encoder positions of an encoder, determining a first respective motor winding current applied to the electric motor at the given encoder position. Additionally, the method includes causing the electric motor to rotate in a negative direction, and for the given multiple encoder positions, determining a second respective motor winding current applied to the electric motor at the given encoder position. Further, the method includes, for the given multiple encoder positions, determining a respective cogging torque based on a difference between the first and second respective winding currents. And the method includes storing a cogging torque profile for the electric motor in a database based on the determined respective cogging torque for the given multiple encoder positions.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.