Title:
SERVO MOTOR CONTROL APPARATUS, SERVO MOTOR CONTROL METHOD, AND SERVO MOTOR CONTROL PROGRAM
Document Type and Number:
Japanese Patent JP2018112972
Kind Code:
A
Abstract:
PROBLEM TO BE SOLVED: To provide a servo motor control apparatus which can control a position of a driven body with high accuracy.SOLUTION: A servo motor control apparatus has a servo motor, a driven body driven by the servo motor, a connection mechanism for connecting the servo motor and the driven body, and for transmitting a force of the servo motor to the driven body, a position command generating unit for generating a position command value for the driven body, a motor controlling unit for controlling the servo motor using the position command value, a force estimation unit for estimating an estimation value for a force which is a driving force operating on the driven force at its connection part with the connection mechanism, and a correction amount generating unit for generating a correction amount used for correcting the position command value generated by the position command generating unit with using a product of the force estimation value and a coefficient indicating a physical constant. The coefficient indicating the physical constant is changed depending on magnitude of the force estimation value or the generated correction amount.SELECTED DRAWING: Figure 5
Inventors:
SHINODA SHOGO
IGAI SATOSHI
IGAI SATOSHI
Application Number:
JP2017004166A
Publication Date:
July 19, 2018
Filing Date:
January 13, 2017
Export Citation:
Assignee:
FANUC LTD
International Classes:
G05D3/12
Domestic Patent References:
| JP2014013554A | 2014-01-23 | |||
| JP2014109785A | 2014-06-12 | |||
| JP2006215626A | 2006-08-17 |
Attorney, Agent or Firm:
Masayuki Masabayashi
Tetsuo Shiba
Hiroaki Hoshino
Tetsuo Shiba
Hiroaki Hoshino
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