Title:
制御装置及び制御方法
Document Type and Number:
Japanese Patent JP6841852
Kind Code:
B2
Abstract:
To provide a controller and a control method capable of identifying a coefficient of a friction model.SOLUTION: A controller 1 which performs position control in view of friction for one or more axes of a machine includes: a data acquisition part 70 which acquires at least a position command and a position feedback; and a correction torque estimation part 80 which estimates, based on position deviation as a difference between the position command and the position feedback, a coefficient of a friction model upon performing the position control.SELECTED DRAWING: Figure 2
Inventors:
Support
Chen Wenji
King Kaibin
Kazuomi Maeda
Chen Wenji
King Kaibin
Kazuomi Maeda
Application Number:
JP2019015507A
Publication Date:
March 10, 2021
Filing Date:
January 31, 2019
Export Citation:
Assignee:
FANUC Corporation
International Classes:
G05B19/404; G05B13/02; G05B19/4155
Foreign References:
| WO2016203614A1 |
Attorney, Agent or Firm:
Aiwa Patent Business Corporation