Control apparatus and control method
Number of patents in Portfolio can not be more than 2000
United States of America
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Apr 19, 2022
Grant Date -
Mar 28, 2019
app pub date -
Feb 2, 2017
filing date -
Feb 2, 2017
priority date (Note) -
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status (Latency Note)
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Abstract
To accurately predict a sensor value even in the case where external force is received. A control apparatus according to the present disclosure includes a prediction section that, in an actuator including a torque sensor that detects torque generated at a driving shaft, and an encoder that detects a rotational angle of the driving shaft, predicts a detection value of the encoder on a basis of a detection value of the torque sensor, or predict the detection value of the torque sensor on a basis of the detection value of the encoder, and a trouble determination section that compares a prediction value predicted by the prediction section with an actually measured value of the torque sensor or the encoder to perform trouble determination on the torque sensor or the encoder.
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