Title:
制御装置及び減速機システム
Document Type and Number:
Japanese Patent JP6374274
Kind Code:
B2
Abstract:
This application discloses a control device for controlling a motor configured to drive an oscillatory cyclo-speed reducer including an oscillatory gear portion formed with at least one hole at an eccentric position. The control device includes an angle acquirer for acquiring input information about an input rotational angle indicating a rotational angle of the motor, an estimator for estimating an angular error between the input rotational angle and an output rotational angle indicating a rotational angle of the oscillatory cyclo-speed reducer based on a quantity of the hole(s) and a corrector for determining a compensation current value in correspondence to the angular error and setting a magnitude of a current to be supplied to the motor by correcting a command current value using the compensation current value.
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Inventors:
Kiyoshi Oishi
Yokokura Yuki
Yousei Hirano
Eji Nakamura
Masataka Sato
Yokokura Yuki
Yousei Hirano
Eji Nakamura
Masataka Sato
Application Number:
JP2014180453A
Publication Date:
August 15, 2018
Filing Date:
September 04, 2014
Export Citation:
Assignee:
Nagaoka University of Technology
Nabtesco Co., Ltd.
Nabtesco Co., Ltd.
International Classes:
G05D3/12; F16H1/32
Domestic Patent References:
| JP1210643A | ||||
| JP2009101444A | ||||
| JP2010244343A | ||||
| JP2002175120A |
Attorney, Agent or Firm:
Etsushi Kotani
Masataka Otani
Shinsuke Otsuki
Masataka Otani
Shinsuke Otsuki