Control apparatus and method, and motor control system
AssigneeCanon Kabushiki Kaisha
InventorsToshiya Takahashi, Hiroshi Kawachi, Tsutomu Osaka
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Abstract
A control apparatus includes a control unit that controls a first motor and a second motor. The control unit controls a rotation angle of a driven unit using one of the first motor and the second motor based on a direction of disturbance and controls, using the other of the first motor and the second motor, backlash removal from a decelerating unit configured to transmit an output of the first motor or the second motor to the driven unit.
Claims15
A control apparatus comprising:
- at least one processor;
- and
- at least one memory coupled to the at least one processor storing instructions that, when executed by the at least one processor, cause the at least one processor to function as a control unit configured to control a first motor and a second motor,
- wherein the control unit controls (i) a rotation angle of a driven unit using one of the first motor and the second motor based on a direction of disturbance, and (ii) using the other of the first motor and the second motor, backlash removal from a decelerating unit configured to transmit an output of the first motor or the second motor to the driven unit.
A motor control system comprising:
- a first motor;
- a second motor;
- a decelerating unit configured to transmit an output of the first motor or the second motor to a driven unit;
- and
- a control unit configured to control the first motor and the second motor,
- wherein the control unit controls (i) a rotation angle of the driven unit by using one of the first motor and the second motor based on a direction of disturbance, and (ii) backlash removal from the decelerating unit using the other of the first motor and the second motor.
A control method for controlling a first motor and a second motor, the control method comprising the steps of:
- controlling a rotation angle of a driven unit using one of the first motor and the second motor based on a direction of disturbance;
- and
- controlling, using the other of the first motor and the second motor, backlash removal from a decelerating unit configured to transmit an output of the first motor or the second motor to the driven unit.
Dependencies are inferred from the claim text.