Motor velocity control apparatus and method
AssigneeSamsung Electronics Co., Ltd.
InventorsKi Moon Lee, Chi Gun An, Duke Kimm
Life of this patent
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Abstract
A motor velocity control apparatus and method in which the velocity of a motor to drive a joint of a robot is controlled. The motor velocity control apparatus and method compensates for a velocity profile used to drive a motor in real time using acceleration, thus increasing a driving velocity of the motor to the maximum velocity while stably maintaining performance of the motor. Thereby, efficiency of the motor is increased, the velocity of the motor is based on the acceleration made by data obtained through experimentation and is thus more precisely and simply calculated than the conventional compensation algorithm using dynamics, and reliability in driving of the motor is assured.
Claims16
A method of controlling a velocity of a motor to drive a joint of a robot comprising:
- generating a velocity profile of the motor based on velocity profile generation data received from a user;
- judging whether or not one velocity section selected from velocity sections divided from the generated velocity profile corresponds to a high velocity region;
- estimating an acceleration corresponding to the current velocity of the motor, upon judging that the velocity section corresponds to the high velocity region;
- compensating for the velocity profile using the estimated acceleration;
- and
- driving the motor using the compensated velocity profile.
A motor velocity control apparatus comprising:
- a motor to drive a joint of a robot;
- a velocity profile generation unit to generate a velocity profile of the motor based on velocity profile generation data received from a user;
- an acceleration estimation unit to estimate an acceleration in a high velocity region of the generated velocity profile;
- a velocity profile compensation unit to compensate the velocity profile using the estimated acceleration;
- a motor drive unit to drive the motor using the compensated velocity profile;
- and
- a motor control unit to judge whether or not one velocity section selected from velocity sections divided from the generated velocity profile corresponds to the high velocity region, to estimate the acceleration corresponding to the current velocity of the motor, upon judging that the velocity section corresponds to the high velocity region, to calculate the velocity of the motor using the estimated acceleration, and to compensate for the velocity profile using the calculated velocity of the motor.
Dependencies are inferred from the claim text.