Title:
MOTOR COMPENSATION METHOD, DRIVER, JOINT MODULES FOR MECHANICAL ARM AND MECHANICAL ARM
Document Type and Number:
WIPO Patent Application WO/2020/034977
Kind Code:
A1
Abstract:
A motor (1010) compensation method, a driver (1050), joint modules for a mechanical arm and the mechanical arm, wherein the motor (1010) compensation method comprises: acquiring a first displacement signal which is detected by a first encoder (1030) and which represents the angular displacement of the rotor of the motor (1010), and acquiring a second displacement signal which is detected by a second encoder (1040) and which represents the angular displacement of the output end of a reducer (1020), wherein the input end of the reducer (1020) is connected to the rotor of the motor (1010); and driving the motor (1010) to operate on the basis of the first displacement signal and the second displacement signal, so that the angular displacement of the output end of the reducer (1020) reaches a set target angular displacement.
Inventors:
LIU YUANJIANG (CN)
YAN LEI (CN)
LIU PENG (CN)
YAN LEI (CN)
LIU PENG (CN)
Application Number:
PCT/CN2019/100506
Publication Date:
February 20, 2020
Filing Date:
August 14, 2019
Export Citation:
Assignee:
GOERTEK INC (CN)
International Classes:
B25J9/16; B25J9/00
Foreign References:
| CN109108967A | 2019-01-01 | |||
| CN105666483A | 2016-06-15 | |||
| CN107538494A | 2018-01-05 | |||
| CN204235546U | 2015-04-01 | |||
| JP2012122509A | 2012-06-28 |
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