Title:
トルク推定装置、方法、及びプログラム
Document Type and Number:
Japanese Patent JP7000811
Kind Code:
B2
Abstract:
To provide a torque estimation device, a torque estimation method, and a torque estimation program, capable of estimating a torque applied to an output shaft by double motor control at low cost and with high accuracy.SOLUTION: A torque estimation device according to one embodiment includes: a stiffness information storage part for storing stiffness information including at least one of the stiffness of a first transmission system and the stiffness of a second transmission system; and a torque calculation part for calculating the torque applied to an output shaft, based on an angle of a first motor driving an output shaft via a first transmission system, an angle of a second motor driving the output shaft through a second transmission system, and the stiffness information.SELECTED DRAWING: Figure 5
Inventors:
Takahisa Koike
Application Number:
JP2017220441A
Publication Date:
January 19, 2022
Filing Date:
November 15, 2017
Export Citation:
Assignee:
株式会社リコー
International Classes:
G01L5/00; F16H59/16; F16H61/02; F16H61/12; G01L3/14; H02P5/46
Domestic Patent References:
| JP2017151528A | ||||
| JP2012211859A | ||||
| JP2013150493A | ||||
| JP2003264992A | ||||
| JP2290187A | ||||
| JP7505226A | ||||
| JP11264448A |
Foreign References:
| WO2014098008A1 | ||||
| US20110017004 |
Attorney, Agent or Firm:
Tadashige Ito
Tadahiko Ito
Tadahiko Ito