JP7164513B2 - 位置検出装置の位置読取値の補正方法 - Google Patents
位置検出装置の位置読取値の補正方法 Download PDFInfo
- Publication number
- JP7164513B2 JP7164513B2 JP2019503255A JP2019503255A JP7164513B2 JP 7164513 B2 JP7164513 B2 JP 7164513B2 JP 2019503255 A JP2019503255 A JP 2019503255A JP 2019503255 A JP2019503255 A JP 2019503255A JP 7164513 B2 JP7164513 B2 JP 7164513B2
- Authority
- JP
- Japan
- Prior art keywords
- pole pair
- magnetic
- readings
- pole
- correction function
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
- G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
- G01D5/244—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing characteristics of pulses or pulse trains; generating pulses or pulse trains
- G01D5/24471—Error correction
- G01D5/2449—Error correction using hard-stored calibration data
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/02—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness
- G01B21/04—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness by measuring coordinates of points
- G01B21/045—Correction of measurements
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
- G01B7/003—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring position, not involving coordinate determination
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D18/00—Testing or calibrating apparatus or arrangements provided for in groups G01D1/00 - G01D15/00
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D18/00—Testing or calibrating apparatus or arrangements provided for in groups G01D1/00 - G01D15/00
- G01D18/001—Calibrating encoders
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
- G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
- G01D5/14—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage
- G01D5/142—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage using Hall-effect devices
- G01D5/145—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage using Hall-effect devices influenced by the relative movement between the Hall device and magnetic fields
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
- G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
- G01D5/14—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage
- G01D5/20—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage by varying inductance, e.g. by a movable armature
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
- G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
- G01D5/14—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage
- G01D5/20—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage by varying inductance, e.g. by a movable armature
- G01D5/204—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage by varying inductance, e.g. by a movable armature by influencing the mutual induction between two or more coils
- G01D5/2053—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage by varying inductance, e.g. by a movable armature by influencing the mutual induction between two or more coils by a movable non-ferromagnetic conductive element
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
- G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
- G01D5/244—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing characteristics of pulses or pulse trains; generating pulses or pulse trains
- G01D5/24471—Error correction
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
- G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
- G01D5/244—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing characteristics of pulses or pulse trains; generating pulses or pulse trains
- G01D5/24471—Error correction
- G01D5/24495—Error correction using previous values
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
- G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
- G01D5/244—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing characteristics of pulses or pulse trains; generating pulses or pulse trains
- G01D5/245—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing characteristics of pulses or pulse trains; generating pulses or pulse trains using a variable number of pulses in a train
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
- G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
- G01D5/244—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing characteristics of pulses or pulse trains; generating pulses or pulse trains
- G01D5/245—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing characteristics of pulses or pulse trains; generating pulses or pulse trains using a variable number of pulses in a train
- G01D5/2451—Incremental encoders
- G01D5/2452—Incremental encoders incorporating two or more tracks having an (n, n+1, ...) relationship
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
- G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
- G01D5/244—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing characteristics of pulses or pulse trains; generating pulses or pulse trains
- G01D5/249—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing characteristics of pulses or pulse trains; generating pulses or pulse trains using pulse code
- G01D5/2497—Absolute encoders
Landscapes
- General Physics & Mathematics (AREA)
- Physics & Mathematics (AREA)
- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Medical Informatics (AREA)
- General Health & Medical Sciences (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- Robotics (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Transmission And Conversion Of Sensor Element Output (AREA)
- Measurement Of Length, Angles, Or The Like Using Electric Or Magnetic Means (AREA)
- Apparatus For Radiation Diagnosis (AREA)
- Indication And Recording Devices For Special Purposes And Tariff Metering Devices (AREA)
Description
Claims (14)
- 位置検出装置の位置読取値の補正方法であって、前記位置検出装置は関節構造の回転ジョイントの位置を検出するのに適しており、前記位置検出装置は、磁極対を含む磁気リングを有するディスクと、前記磁気リングの前記磁極対を検出するための磁気センサアレイを有する磁気センサアセンブリと、を含み、
前記磁気リングの各磁極対に対して、前記磁気センサアレイを用いて較正磁極対位置読取値を取得し、前記較正磁極対位置読取値とモデル磁極対位置読取値を比較することにより磁極対補正関数を生成し、
前記磁気リングの前記磁極対の前記磁極対補正関数を平均化して前記磁気リングの平均磁極対補正関数を生成し、
前記磁気リングの各前記磁極対に対して、前記較正磁極対位置読取値から前記磁極対補正関数を差し引くことにより、補正された較正磁極対位置読取値を生成し、
前記磁気リングの前記補正された較正磁極対位置読取値をモデル回転位置読取値と比較することにより回転補正関数を生成し、
前記磁気センサアレイを用いて複数の磁極対位置読取値を含む位置読取値を取得し、
前記磁気センサアレイから取得した前記磁極対位置読取値から前記平均磁極対補正関数および前記回転補正関数を差し引くことにより補正位置読取値を生成すること、
を含む、位置検出装置の位置読取値の補正方法。 - 前記較正磁極対位置読取値はマルチビットである請求項1に記載の位置検出装置の位置読取値の補正方法。
- 前記磁極対補正関数は周期的に振動する関数を含む請求項1または2に記載の位置検出装置の位置読取値の補正方法。
- 前記磁極対補正関数は正弦関数を含む請求項3に記載の位置検出装置の位置読取値の補正方法。
- 各前記磁極対に対して、前記較正磁極対位置読取値に曲線をフィッティングし、前記フィッティングした曲線から前記モデル磁極対位置読取値を表す線を差し引くことにより前記磁極対補正関数を生成する請求項1~4の何れか1項に記載の位置検出装置の位置読取値の補正方法。
- 前記ディスクは、磁極対を有するさらなる磁気リングと、前記さらなる磁気リングの前記磁極対を検出するためのさらなる磁気センサアレイを有する前記磁気センサアセンブリと、を含み、
前記さらなる磁気リングの各前記磁極対に対して、前記さらなる磁気センサアレイを用いてさらなる較正磁極対位置読取値を取得し、前記さらなる較正磁極対位置読取値をさらなるモデル磁極対位置読取値と比較することによりさらなる磁極対補正関数を生成し、
前記さらなる磁気リングの前記磁極対の前記さらなる磁極対補正関数を平均化して、前記さらなる磁気リングの平均化したさらなる磁極対補正関数を生成し、
前記さらなる磁気センサアレイを用いて複数の磁極対位置読取値を含むさらなる位置読取値を取得し、
各前記磁極対位置読取値から前記平均化したさらなる磁極対補正関数を差し引いて補正されたさらなる位置読取値を生成すること、を含む請求項1~5の何れか1項に記載の位置検出装置の位置読取値の補正方法。 - 前記さらなる磁極対補正関数は、周期的に振動する関数を含む請求項6に記載の位置検出装置の位置読取値の補正方法。
- 前記さらなる磁極対補正関数は正弦関数を含む請求項7に記載の位置検出装置の位置読取値の補正方法。
- 前記さらなる較正磁極対位置読取値に曲線をフィッティングし、前記フィッティングした曲線から前記さらなるモデル磁極対位置読取値を表す線を差し引くことにより前記さらなる磁極対補正関数を生成することを含む請求項6~8の何れか1項に記載の位置検出装置の位置読取値の補正方法。
- 前記回転補正関数は、周期的に振動する関数を含む請求項1~9の何れか1項に記載の位置検出装置の位置読取値の補正方法。
- 前記補正された較正磁極対位置読取値に曲線をフィッティングし、前記フィッティングされた曲線から前記モデル回転位置読取値を表す線を差し引くことにより前記回転補正関数を生成することを含む請求項1~10の何れか1項に記載の位置検出装置の位置読取値の補正方法。
- 前記さらなる磁気リングの各前記磁極対に対して、前記さらなる較正磁極対位置読取値から前記さらなる磁極対補正関数を差し引くことによりさらなる補正された較正磁極対位置読取値を生成し、
前記さらなる磁気リングの前記さらなる補正された較正磁極対位置読取値をさらなるモデル回転位置読取値と比較することによりさらなる回転補正関数を生成し、
前記さらなる磁気センサアレイから取得した前記さらなる位置読取値から前記平均化されたさらなる磁極対補正関数および前記さらなる回転補正関数を差し引くことにより、さらなる補正位置読取値を生成すること、
を含む請求項6~11の何れか1項に記載の位置検出装置の位置読取値の補正方法。 - 前記さらなる回転補正関数は、周期的に振動する関数を含む請求項12に記載の位置検出装置の位置読取値の補正方法。
- 前記さらなる補正された較正磁極対位置読取値に曲線をフィッティングし、前記フィッティングされた曲線から前記さらなるモデル回転位置読取値を表す線を差し引くことにより前記さらなる回転補正関数を生成することを含む請求項12または13に記載の位置検出装置の位置読取値の補正方法。
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2022168154A JP7374283B2 (ja) | 2016-07-22 | 2022-10-20 | 位置検出装置の位置読取値の補正方法 |
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
GB1612766.4 | 2016-07-22 | ||
GB1612766.4A GB2552385B (en) | 2016-07-22 | 2016-07-22 | Calibrating position sensor readings |
PCT/GB2017/052120 WO2018015747A1 (en) | 2016-07-22 | 2017-07-19 | Calibrating position sensor readings |
Related Child Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2022168154A Division JP7374283B2 (ja) | 2016-07-22 | 2022-10-20 | 位置検出装置の位置読取値の補正方法 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2019525170A JP2019525170A (ja) | 2019-09-05 |
JP7164513B2 true JP7164513B2 (ja) | 2022-11-01 |
Family
ID=56894462
Family Applications (2)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2019503255A Active JP7164513B2 (ja) | 2016-07-22 | 2017-07-19 | 位置検出装置の位置読取値の補正方法 |
JP2022168154A Active JP7374283B2 (ja) | 2016-07-22 | 2022-10-20 | 位置検出装置の位置読取値の補正方法 |
Family Applications After (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2022168154A Active JP7374283B2 (ja) | 2016-07-22 | 2022-10-20 | 位置検出装置の位置読取値の補正方法 |
Country Status (7)
Country | Link |
---|---|
US (2) | US10969251B2 (ja) |
EP (2) | EP3742131B1 (ja) |
JP (2) | JP7164513B2 (ja) |
CN (2) | CN113607193A (ja) |
ES (2) | ES2930182T3 (ja) |
GB (1) | GB2552385B (ja) |
WO (1) | WO2018015747A1 (ja) |
Families Citing this family (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
GB2552385B (en) * | 2016-07-22 | 2021-09-15 | Cmr Surgical Ltd | Calibrating position sensor readings |
CN110048574A (zh) * | 2019-05-13 | 2019-07-23 | 青岛大学 | 一种适于转子绝对位置无传感器控制的新型双定子复合电机 |
CN110940371B (zh) * | 2019-12-13 | 2020-08-21 | 浙江禾川科技股份有限公司 | 一种旋转磁电编码器的校准方法、装置及设备 |
US11333528B1 (en) * | 2020-11-03 | 2022-05-17 | Infineon Technologies Ag | Method for on-chip wheel pitch recognition for magnetoresistive sensors |
KR102506405B1 (ko) * | 2021-01-22 | 2023-03-06 | 주식회사 에스앤에이 | 자기식 엔코더를 이용한 각도 측정 시스템, 그 측정 방법 및 그 각도 측정 시스템의 파라미터 설정 방법 |
Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2004294145A (ja) | 2003-03-26 | 2004-10-21 | Ntn Corp | 回転センサ付軸受 |
JP2006234723A (ja) | 2005-02-28 | 2006-09-07 | Matsushita Electric Ind Co Ltd | 回転角検出装置の回転角補正方法 |
WO2015029098A1 (ja) | 2013-08-26 | 2015-03-05 | 三菱電機株式会社 | 位置検出器の角度誤差補正装置および角度誤差補正方法 |
JP2015114209A (ja) | 2013-12-12 | 2015-06-22 | セイコーエプソン株式会社 | エンコーダー及び電気機械装置 |
Family Cites Families (54)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH07266193A (ja) * | 1994-03-30 | 1995-10-17 | Toshiba Mach Co Ltd | 熱変位補正装置 |
JPH07336979A (ja) * | 1994-06-06 | 1995-12-22 | Nippon Seiko Kk | 位置検出方法及び位置検出装置 |
US5757180A (en) * | 1994-11-29 | 1998-05-26 | Industrial Technology Research Institute | Disk type of absolute-position magnetic encoder for rotary devices |
US5568048A (en) * | 1994-12-14 | 1996-10-22 | General Motors Corporation | Three sensor rotational position and displacement detection apparatus with common mode noise rejection |
US6097183A (en) * | 1998-04-14 | 2000-08-01 | Honeywell International Inc. | Position detection apparatus with correction for non-linear sensor regions |
US6935193B2 (en) * | 1999-12-06 | 2005-08-30 | Robert Bosch Gmbh | Device for measuring the angle and/or the angular velocity of a rotatable body and/or the torque acting upon said body |
US6553326B1 (en) * | 2000-04-07 | 2003-04-22 | Northern Digital Inc. | Errors in systems using magnetic fields to locate objects |
US6515471B1 (en) * | 2000-10-11 | 2003-02-04 | The Torrington Company | Absolute position hall string sensor |
JP2004309356A (ja) * | 2003-04-08 | 2004-11-04 | Tsubakimoto Chain Co | 位置検出方法、位置検出装置及び位置制御装置 |
US20150341812A1 (en) | 2003-08-29 | 2015-11-26 | Ineoquest Technologies, Inc. | Video quality monitoring |
DE202004014849U1 (de) * | 2004-09-23 | 2005-02-03 | Trw Automotive Safety Systems Gmbh | Vorrichtung zur Bestimmung eines absoluten Drehwinkels |
DE102004062118B3 (de) * | 2004-12-23 | 2006-01-12 | Aradex Ag | Verfahren zur Verbesserung der Signalqualität von sinusförmigen Spursignalen |
JP4859205B2 (ja) | 2005-02-04 | 2012-01-25 | キヤノン株式会社 | 情報処理装置、情報処理方法、及びプログラム |
WO2006085569A1 (ja) * | 2005-02-10 | 2006-08-17 | Matsushita Electric Industrial Co., Ltd. | 回転角度検出装置及び回転角度補正方法 |
US7339370B2 (en) * | 2005-12-09 | 2008-03-04 | Bourns, Inc. | Position and torque sensor |
GB0616437D0 (en) * | 2006-08-18 | 2006-09-27 | Trw Ltd | Methods of processing encoder signals |
DE102007026220B4 (de) * | 2007-06-05 | 2020-12-10 | Austriamicrosystems Ag | Sensoranordnung, Messsystem und Messverfahren |
US8305073B2 (en) * | 2008-04-23 | 2012-11-06 | Getrag Ford Transmissions Gmbh | Position sensor, position sensor arrangement and method of operating the same by measuring the angular orientation of a local magnetic field vector |
US8253413B2 (en) * | 2008-09-22 | 2012-08-28 | Infineon Technologies Ag | System that obtains a switching point with the encoder in a static position |
US8085036B2 (en) * | 2009-01-14 | 2011-12-27 | Infineon Technologies Ag | Sensor including two code rings and a magnetic field sensor between the code rings |
JP5671255B2 (ja) * | 2009-06-30 | 2015-02-18 | Ntn株式会社 | 自動車駆動用モータの回転角度検出装置および回転角度検出装置付き軸受 |
JP5333863B2 (ja) * | 2009-08-26 | 2013-11-06 | 株式会社ジェイテクト | 回転角検出装置 |
JP2011047735A (ja) * | 2009-08-26 | 2011-03-10 | Jtekt Corp | 回転角検出装置 |
JP5096442B2 (ja) * | 2009-11-17 | 2012-12-12 | 株式会社日立製作所 | 回転角計測装置,モータシステム及び電動パワーステアリング・システム |
GB2483177B (en) * | 2011-10-19 | 2013-10-02 | Protean Electric Ltd | An electric motor or generator |
DE112012006270B4 (de) * | 2012-04-26 | 2019-05-09 | Mitsubishi Electric Corporation | Magnetpositions-Erfassungsvorrichtung |
US9372062B2 (en) * | 2012-05-04 | 2016-06-21 | Honeywell International Inc. | Techniques for calibrating a linear position sensor |
GB2505226A (en) * | 2012-08-23 | 2014-02-26 | Melexis Technologies Nv | Arrangement, method and sensor for measuring an absolute angular position using a multi-pole magnet |
WO2014082677A1 (de) * | 2012-11-30 | 2014-06-05 | Balluff Gmbh | Verfahren zur positions- und/oder wegmessung an einem system mit mindestens einem beweglichen objekt und positions-/wegmesssystem |
WO2014174586A1 (ja) * | 2013-04-23 | 2014-10-30 | 三菱電機株式会社 | 磁気式位置検出装置及び磁気式位置検出方法 |
DE102013212268A1 (de) * | 2013-06-26 | 2014-12-31 | Robert Bosch Gmbh | Verfahren und Vorrichtung zum Bestimmen einer Winkelposition eines Bauelements, insbesondere einer Drosselklappe, mittels eines Wirbelstrom-Winkelsensors |
GB201312484D0 (en) | 2013-07-12 | 2013-08-28 | Trw Ltd | Rotary encoder |
JP6165541B2 (ja) * | 2013-07-26 | 2017-07-19 | Ntn株式会社 | 回転検出装置および回転検出装置付き軸受 |
JP5758966B2 (ja) * | 2013-10-11 | 2015-08-05 | ファナック株式会社 | コギングトルクを低減可能な同期電動機 |
JP6460697B2 (ja) * | 2014-03-27 | 2019-01-30 | キヤノン株式会社 | 角度検出方法、角度検出装置、およびロボット装置 |
US10274349B2 (en) * | 2014-05-19 | 2019-04-30 | Medtronic Minimed, Inc. | Calibration factor adjustments for infusion devices and related methods and systems |
US9852832B2 (en) * | 2014-06-25 | 2017-12-26 | Allegro Microsystems, Llc | Magnetic field sensor and associated method that can sense a position of a magnet |
US10048718B2 (en) * | 2014-06-25 | 2018-08-14 | Allegro Microsystems, Llc | Joystick assembly |
DE102014224961A1 (de) * | 2014-12-05 | 2016-06-09 | Robert Bosch Gmbh | Vorrichtung und Algorythmik zur radialen mechanisch absoluten Winkelbestimmung einer Welle |
JP6455111B2 (ja) * | 2014-12-05 | 2019-01-23 | 株式会社ジェイテクト | 回転角検出装置 |
JP6394399B2 (ja) * | 2015-01-09 | 2018-09-26 | 株式会社デンソー | 回転角検出装置 |
US10052761B2 (en) * | 2015-07-17 | 2018-08-21 | Deka Products Limited Partnership | Robotic surgery system, method, and apparatus |
GB2541369B (en) * | 2015-07-22 | 2021-03-31 | Cmr Surgical Ltd | Drive mechanisms for robot arms |
GB201512964D0 (en) * | 2015-07-22 | 2015-09-02 | Cambridge Medical Robotics Ltd | Communication paths for robot arms |
JP2017156266A (ja) * | 2016-03-03 | 2017-09-07 | 日立金属株式会社 | 回転角センサ及びその補正方法 |
EP3217531A1 (de) * | 2016-03-07 | 2017-09-13 | HILTI Aktiengesellschaft | Handwerkzeugmaschine und drehwinkelkorrekturverfahren |
JP6656958B2 (ja) * | 2016-03-10 | 2020-03-04 | 日本電産サンキョー株式会社 | ロータリエンコーダ及びロータリエンコーダの角度補正方法 |
GB2552385B (en) * | 2016-07-22 | 2021-09-15 | Cmr Surgical Ltd | Calibrating position sensor readings |
GB2552478B (en) * | 2016-07-22 | 2021-04-28 | Cmr Surgical Ltd | Magnetic position sensor |
GB2552386B (en) * | 2016-07-22 | 2022-06-08 | Cmr Surgical Ltd | Magnetic position sensor mounting arrangement |
JP6477933B2 (ja) * | 2017-04-25 | 2019-03-06 | 日本精工株式会社 | 回転角度検出装置及び回転角度検出方法 |
SE542950C2 (en) * | 2018-02-01 | 2020-09-22 | Leine & Linde Ab | Methods, computer programs, devices and encoders for signal error correction |
US10422672B1 (en) | 2018-03-08 | 2019-09-24 | International Business Machines Corporation | 2D nanoparticle motion sensing methods and structures |
EP3702736B1 (en) * | 2019-02-26 | 2023-08-02 | Melexis Technologies SA | Sensor system for rotation angular detection and 3d joystick function |
-
2016
- 2016-07-22 GB GB1612766.4A patent/GB2552385B/en active Active
-
2017
- 2017-07-19 JP JP2019503255A patent/JP7164513B2/ja active Active
- 2017-07-19 US US16/319,289 patent/US10969251B2/en active Active
- 2017-07-19 CN CN202110907657.6A patent/CN113607193A/zh active Pending
- 2017-07-19 ES ES20185923T patent/ES2930182T3/es active Active
- 2017-07-19 EP EP20185923.8A patent/EP3742131B1/en active Active
- 2017-07-19 WO PCT/GB2017/052120 patent/WO2018015747A1/en unknown
- 2017-07-19 ES ES17745466T patent/ES2833249T3/es active Active
- 2017-07-19 EP EP17745466.7A patent/EP3488189B1/en active Active
- 2017-07-19 CN CN201780045466.5A patent/CN109477735B/zh active Active
-
2021
- 2021-03-05 US US17/194,208 patent/US11619522B2/en active Active
-
2022
- 2022-10-20 JP JP2022168154A patent/JP7374283B2/ja active Active
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2004294145A (ja) | 2003-03-26 | 2004-10-21 | Ntn Corp | 回転センサ付軸受 |
JP2006234723A (ja) | 2005-02-28 | 2006-09-07 | Matsushita Electric Ind Co Ltd | 回転角検出装置の回転角補正方法 |
WO2015029098A1 (ja) | 2013-08-26 | 2015-03-05 | 三菱電機株式会社 | 位置検出器の角度誤差補正装置および角度誤差補正方法 |
JP2015114209A (ja) | 2013-12-12 | 2015-06-22 | セイコーエプソン株式会社 | エンコーダー及び電気機械装置 |
Also Published As
Publication number | Publication date |
---|---|
EP3488189B1 (en) | 2020-08-26 |
JP2019525170A (ja) | 2019-09-05 |
GB2552385B (en) | 2021-09-15 |
ES2833249T3 (es) | 2021-06-14 |
GB2552385A (en) | 2018-01-24 |
US20210190547A1 (en) | 2021-06-24 |
CN109477735B (zh) | 2021-08-27 |
EP3742131A1 (en) | 2020-11-25 |
WO2018015747A1 (en) | 2018-01-25 |
CN109477735A (zh) | 2019-03-15 |
US20190277667A1 (en) | 2019-09-12 |
ES2930182T3 (es) | 2022-12-07 |
JP7374283B2 (ja) | 2023-11-06 |
US11619522B2 (en) | 2023-04-04 |
GB201612766D0 (en) | 2016-09-07 |
EP3488189A1 (en) | 2019-05-29 |
EP3742131B1 (en) | 2022-08-24 |
US10969251B2 (en) | 2021-04-06 |
CN113607193A (zh) | 2021-11-05 |
JP2023002689A (ja) | 2023-01-10 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
JP6990231B2 (ja) | 位置検出装置およびその組立方法 | |
JP7164513B2 (ja) | 位置検出装置の位置読取値の補正方法 | |
US20230025430A1 (en) | Magnetic position sensor mounting arrangement | |
US10429178B2 (en) | Correcting and/or preventing errors during the measurement of coordinates of a work piece | |
US10670383B2 (en) | Calibrating and operating rotary devices, in particular for rotating probe heads and/or probes of coordinate measuring machines | |
JPH02176415A (ja) | 位置センサとそれを用いたトルクセンサ | |
JP6953772B2 (ja) | 誤差検出方法、誤差検出プログラム、誤差検出装置、エンコーダ装置の製造方法、エンコーダ装置、駆動装置、ステージ装置、及びロボット装置 | |
JP2006047199A (ja) | 角度データ作成方法 | |
JP2012189435A (ja) | 予圧関連量測定装置付回転機械 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20190326 |
|
A621 | Written request for application examination |
Free format text: JAPANESE INTERMEDIATE CODE: A621 Effective date: 20200701 |
|
A977 | Report on retrieval |
Free format text: JAPANESE INTERMEDIATE CODE: A971007 Effective date: 20210525 |
|
A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20210604 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20210903 |
|
A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20220210 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20220510 |
|
TRDD | Decision of grant or rejection written | ||
A01 | Written decision to grant a patent or to grant a registration (utility model) |
Free format text: JAPANESE INTERMEDIATE CODE: A01 Effective date: 20220922 |
|
A61 | First payment of annual fees (during grant procedure) |
Free format text: JAPANESE INTERMEDIATE CODE: A61 Effective date: 20221020 |
|
R150 | Certificate of patent or registration of utility model |
Ref document number: 7164513 Country of ref document: JP Free format text: JAPANESE INTERMEDIATE CODE: R150 |