CN102243501A - 控制包含波形齿轮装置的执行机构的定位的方法 - Google Patents
控制包含波形齿轮装置的执行机构的定位的方法 Download PDFInfo
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- CN102243501A CN102243501A CN201110093171XA CN201110093171A CN102243501A CN 102243501 A CN102243501 A CN 102243501A CN 201110093171X A CN201110093171X A CN 201110093171XA CN 201110093171 A CN201110093171 A CN 201110093171A CN 102243501 A CN102243501 A CN 102243501A
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- theta
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- wave gear
- gear device
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D3/00—Control of position or direction
- G05D3/10—Control of position or direction without using feedback
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/41—Servomotor, servo controller till figures
- G05B2219/41427—Feedforward of position
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/41—Servomotor, servo controller till figures
- G05B2219/41432—Feedforward of current
Abstract
Description
Claims (1)
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2010090695A JP5453606B2 (ja) | 2010-04-09 | 2010-04-09 | 波動歯車装置を備えたアクチュエータの位置決め制御方法 |
JP2010-090695 | 2010-04-09 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN102243501A true CN102243501A (zh) | 2011-11-16 |
CN102243501B CN102243501B (zh) | 2015-02-25 |
Family
ID=44760437
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201110093171.XA Active CN102243501B (zh) | 2010-04-09 | 2011-04-08 | 控制包含波动齿轮装置的执行机构的定位的方法 |
Country Status (4)
Country | Link |
---|---|
US (1) | US8427094B2 (zh) |
JP (1) | JP5453606B2 (zh) |
CN (1) | CN102243501B (zh) |
DE (1) | DE102011007083B4 (zh) |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN104152625A (zh) * | 2014-08-27 | 2014-11-19 | 中冶南方工程技术有限公司 | 一种氧枪减速停车控制方法及装置 |
CN110955192A (zh) * | 2018-09-27 | 2020-04-03 | 日本电产三协株式会社 | 伺服控制装置、机器人及伺服控制方法 |
Families Citing this family (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP5574228B2 (ja) * | 2010-04-09 | 2014-08-20 | 株式会社ハーモニック・ドライブ・システムズ | 波動歯車減速機の温度変化に伴う摩擦特性変動を考慮したアクチュエータの適応型摩擦補償法 |
JP5656193B2 (ja) * | 2011-04-20 | 2015-01-21 | 株式会社ハーモニック・ドライブ・システムズ | 波動歯車装置を備えたアクチュエータの位置決め装置 |
DE112011105755T5 (de) * | 2011-10-24 | 2014-09-18 | Harmonic Drive Systems Inc. | Positionierungssteuersystem für einen mit einem Wellgetriebe ausgestatteten Aktuator |
KR102228592B1 (ko) | 2016-09-27 | 2021-03-15 | 가부시키가이샤 하모닉 드라이브 시스템즈 | H∞ 제어에 의한 파동 기어 장치를 구비한 액추에이터의 위치결정 제어장치 |
JP6371010B1 (ja) | 2016-09-27 | 2018-08-08 | 株式会社ハーモニック・ドライブ・システムズ | 状態オブザーバ併用型フルクローズド制御による波動歯車装置を備えたアクチュエータの位置決め制御装置 |
FR3102866B1 (fr) * | 2019-10-30 | 2021-10-01 | Safran Electronics & Defense | Procédé de commande d’un actionneur de système mécanique à frottements imbriqués |
Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5049797A (en) * | 1990-07-02 | 1991-09-17 | Utah State University Foundation | Device and method for control of flexible link robot manipulators |
US5327061A (en) * | 1992-06-26 | 1994-07-05 | Hughes Aircraft Company | Force (torque) nulling inertially servoed structural interface |
US5442270A (en) * | 1992-02-06 | 1995-08-15 | Fanuc Ltd. | Adaptive sliding mode control method for object of control including spring system |
GB2440040A (en) * | 2006-07-10 | 2008-01-16 | Rotork Controls | A Valve Actuator with Feedback Control |
JP2009095955A (ja) * | 2007-10-19 | 2009-05-07 | Harmonic Drive Syst Ind Co Ltd | 歯車形削り盤のカッタ軸駆動機構 |
JP2009287637A (ja) * | 2008-05-28 | 2009-12-10 | Harmonic Drive Syst Ind Co Ltd | 波動歯車式直動機構 |
Family Cites Families (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS6366611A (ja) * | 1986-09-08 | 1988-03-25 | Yokogawa Electric Corp | マニピユレ−タのシミユレ−シヨン方法 |
US5650704A (en) * | 1995-06-29 | 1997-07-22 | Massachusetts Institute Of Technology | Elastic actuator for precise force control |
JP4052490B2 (ja) * | 1998-03-18 | 2008-02-27 | 株式会社ハーモニック・ドライブ・システムズ | 波動歯車減速機の角度伝達誤差補正方法 |
JP4459463B2 (ja) * | 2001-02-19 | 2010-04-28 | 株式会社ハーモニック・ドライブ・システムズ | アクチュエータの位置決め誤差補正方法 |
JP4920612B2 (ja) | 2008-02-07 | 2012-04-18 | 株式会社ハーモニック・ドライブ・システムズ | アクチュエータの角度伝達誤差補償方法 |
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2010
- 2010-04-09 JP JP2010090695A patent/JP5453606B2/ja active Active
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2011
- 2011-04-06 US US13/080,756 patent/US8427094B2/en active Active
- 2011-04-08 CN CN201110093171.XA patent/CN102243501B/zh active Active
- 2011-04-08 DE DE102011007083.4A patent/DE102011007083B4/de active Active
Patent Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5049797A (en) * | 1990-07-02 | 1991-09-17 | Utah State University Foundation | Device and method for control of flexible link robot manipulators |
US5442270A (en) * | 1992-02-06 | 1995-08-15 | Fanuc Ltd. | Adaptive sliding mode control method for object of control including spring system |
US5327061A (en) * | 1992-06-26 | 1994-07-05 | Hughes Aircraft Company | Force (torque) nulling inertially servoed structural interface |
GB2440040A (en) * | 2006-07-10 | 2008-01-16 | Rotork Controls | A Valve Actuator with Feedback Control |
JP2009095955A (ja) * | 2007-10-19 | 2009-05-07 | Harmonic Drive Syst Ind Co Ltd | 歯車形削り盤のカッタ軸駆動機構 |
JP2009287637A (ja) * | 2008-05-28 | 2009-12-10 | Harmonic Drive Syst Ind Co Ltd | 波動歯車式直動機構 |
Non-Patent Citations (1)
Title |
---|
孟昭军等: "状态反馈精确线性化永磁同步电动机转速控制", 《电机与控制学报》 * |
Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN104152625A (zh) * | 2014-08-27 | 2014-11-19 | 中冶南方工程技术有限公司 | 一种氧枪减速停车控制方法及装置 |
CN104152625B (zh) * | 2014-08-27 | 2016-06-01 | 中冶南方工程技术有限公司 | 一种氧枪减速停车控制方法及装置 |
CN110955192A (zh) * | 2018-09-27 | 2020-04-03 | 日本电产三协株式会社 | 伺服控制装置、机器人及伺服控制方法 |
CN110955192B (zh) * | 2018-09-27 | 2023-06-30 | 日本电产三协株式会社 | 伺服控制装置、机器人及伺服控制方法 |
Also Published As
Publication number | Publication date |
---|---|
JP5453606B2 (ja) | 2014-03-26 |
JP2011220459A (ja) | 2011-11-04 |
DE102011007083A1 (de) | 2012-05-10 |
US20110248661A1 (en) | 2011-10-13 |
DE102011007083B4 (de) | 2023-10-05 |
CN102243501B (zh) | 2015-02-25 |
US8427094B2 (en) | 2013-04-23 |
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