Title:
SPEED REDUCER ANGULAR TRANSMISSION ERROR IDENTIFICATION SYSTEM AND SPEED REDUCER ANGULAR TRANSMISSION ERROR IDENTIFICATION METHOD
Document Type and Number:
WIPO Patent Application WO/2018/212307
Kind Code:
A1
Abstract:
This invention includes: a variable data acquisition unit (42) that acquires first variable data that is data indicating periodic variations in the movement of a second joint caused by an angular transmission error of a first motor (11) when a first joint control unit (24) causes the output shaft (11a) of the first motor to rotate in a first direction at a constant first target speed at the same time that a second joint control unit (27) causes the output shaft (16a) of a second motor (16) to rotate at a constant second target speed, and second variable data that is data indicating periodic variations in the movement of the second joint caused by angular transmission error of the first motor when the first joint control unit causes the output shaft of the first motor to rotate in a second direction at the constant first target speed at the same time that the second joint control unit causes the output shaft of the second motor to rotate at the constant second target speed; a periodic function calculation unit (43) that calculates first and second periodic functions modeling the first and second variable data; an average phase calculation unit (44) that calculates the average phase of the periodic functions; and an angular transmission error identification unit (46) that calculates the periodic variations of the angular transmission error of a first speed reducer on the basis of the average phase.
Inventors:
TSUBOI NOBUTAKA
Application Number:
PCT/JP2018/019198
Publication Date:
November 22, 2018
Filing Date:
May 17, 2018
Export Citation:
Assignee:
KAWASAKI HEAVY IND LTD (JP)
International Classes:
B25J13/00; B25J9/10
Foreign References:
| JP2011224662A | 2011-11-10 | |||
| JP2011212823A | 2011-10-27 | |||
| JPS63153610A | 1988-06-27 | |||
| JP2014136260A | 2014-07-28 | |||
| JPS63153610A | 1988-06-27 |
Other References:
See also references of EP 3626409A4
Attorney, Agent or Firm:
PATENT CORPORATE BODY ARCO PATENT OFFICE (JP)
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