METHOD FOR SUPPRESSING VARIATION IN SPEED OF ACTUATOR
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United States of America Patent
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Issued Date -
Jan 15, 2009
app pub date -
Mar 2, 2006
filing date -
Mar 2, 2006
priority date (Note) -
Abandoned
status (Latency Note)
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Abstract
The drive controller of an actuator previously measures positioning error of an actuator output shaft caused by the angle transmission error of a wave gear drive and stores it as correction data. In a feedback control loop, a speed feedback value ωf is computed using the detected position feedback value θf, after corrected by the correction data, of the actuator output shaft, and a current command Ir is computed using it, thus performing drive control on a motor. Since a speed component caused by the angle transmission error of the wave gear drive has been added to the rotational speed of a motor with regard to the speed feedback value ωf, a variation in rotational speed of the actuator output shaft caused by the angle transmission error of a wave gear drive can be suppressed effectively.
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