Title:
CONTROL DEVICE AND CONTROL METHOD
Document Type and Number:
WIPO Patent Application WO/2017/169082
Kind Code:
A1
Abstract:
The present invention predicts a sensor value with high accuracy even under application of an external force. The control device according to the present disclosure is provided with a prediction unit (260) which, for an actuator which has a torque sensor for detecting the torque generated on a drive shaft and an encoder for detecting the rotational angle of the drive shaft, predicts the detection value of the encoder on the basis of the detection value of the torque sensor or predicts the detection value of the torque sensor on the basis of the detection value of the encoder, and a failure determination unit (266) which determines whether there is a failure in the torque sensor or the encoder by comparing the value predicted by the prediction unit against the actual measurement value of the torque sensor or the encoder.
Inventors:
KASAI TAKARA (JP)
NAGAO DAISUKE (JP)
NAGAO DAISUKE (JP)
Application Number:
PCT/JP2017/003691
Publication Date:
October 05, 2017
Filing Date:
February 02, 2017
Export Citation:
Assignee:
SONY CORP (JP)
International Classes:
B25J19/06; G05B19/18; H02P29/024
Domestic Patent References:
| WO2015137040A1 | 2015-09-17 | |||
| WO2015133291A1 | 2015-09-11 |
Foreign References:
| JP2007301691A | 2007-11-22 | |||
| JP2013220496A | 2013-10-28 |
Attorney, Agent or Firm:
KAMEYA, Yoshiaki et al. (JP)
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