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US 10,707,786 B2Granted
Systems and methods for motor torque compensation
AssigneeIntuitive Surgical Operations, Inc.
InventorsAmir Chaghajerdi, Pushkar Hingwe
Life of this patent
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Abstract
A method includes receiving a torque limit for a motor, monitoring a torque output of the motor, determining an amplitude and a phase of a torque ripple of the torque output, and determining a compensated torque limit for the motor, the compensated torque limit including a first component at the torque limit and a second component at an adjusted torque limit.
Claims20
A method comprising:
- receiving a torque limit for a motor;
- monitoring a torque output of the motor;
- determining an amplitude and a phase of a torque ripple of the torque output;
- and
- determining a compensated torque limit for the motor, the compensated torque limit including a first component at the torque limit and a second component at an adjusted torque limit.
2 more elements
A method comprising:
- monitoring a torque output of a motor;
- receiving an upper torque limit for the motor;
- determining an oscillation component of the torque output, the oscillation component being associated with a torque ripple;
- adjusting the upper torque limit based on the determined oscillation component to create a locally compensated upper torque limit;
- and
- comparing the torque output to the locally compensated upper torque limit.
3 more elements
Dependencies are inferred from the claim text.