METHOD FOR COMPENSATING FOR ANGULAR TRANSMISSION ERROR IN STRAIN WAVE GEARING

WIPO Patent Application WO/2010/116607

A1

The drive of a positioning system (1) provided with an actuator (2) provided with a strain wave gearing (4) is controlled by semi-closed loop control for controlling a load position of a load device (5) on the basis of a motor position of a motor shaft (31) of a motor (3). In an angular transmission error compensation method for compensating for a motor shaft synchronous component (θSync) generated in synchronization with the motor position among relative rotation synchronous components included in angular transmission error components of the strain wave gearing (4), the positioning system (1) is regarded as a two-inertia model, and the motor shaft synchronous component (θSync) is regarded as a vibration source that acts as torsion between two inertia bodies of the two-inertia model. A motor current command (i ref) is corrected by a compensation current command (i comp) calculated so that an influence given to the load position by the motor shaft synchronous component (θSync) in this case can be compensated for, and a motor position command (r) is corrected by a motor position correction signal (θcomp) calculated in order to compensate for the influence of the motor shaft synchronous component (θSync).

SASAKI KOZO (JP)
OKITSU YOSHIFUMI (JP)
YAJIMA TOSHIO (JP)
IWASAKI MAKOTO (JP)

PCT/JP2010/001608

October 14, 2010

March 08, 2010

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HARMONIC DRIVE SYSTEMS (JP)
NAT UNIV CORP NAGOYA INST TECH (JP)
SASAKI KOZO (JP)
OKITSU YOSHIFUMI (JP)
YAJIMA TOSHIO (JP)
IWASAKI MAKOTO (JP)

G05D3/12; F16H1/32; H02P29/00

JP2009187404A	2009-08-20
JPH11264448A	1999-09-28
JP2002176790A	2002-06-21
JPS62224802A	1987-10-02

YOKOZAWA, Shiro (JP)
Shiro Yokozawa (JP)

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