Control device for motor drive device, control device for multi-axial motor, and control method for motor drive device
AssigneeCanon Kabushiki Kaisha
InventorYohji Nakajima
Life of this patent
Estimating the term…
Abstract
Motion control of a robot arm is performed via a reducer connected to a motor. A controller thereof includes a thrust control unit that generates motor position command value based on an input thrust command value, and a motor control unit that generates a current value based on the motor position command value. The motor control unit feeds back a motor position detected by a motor encoder, and the thrust control unit feeds back thrust detected by a thrust meter. The feedback from the motor control unit suppresses vibration phenomena at the reducer, and the feedback from the thrust control unit suppresses transmission error, thereby enabling motion control of the arm with rapidity and precision.
Claims8
A robot device having an arm driven via a reducer connected to a motor, the robot device comprising:
- the reducer connected to an output shaft of the motor;
- a thrust measuring unit configured to obtain thrust occurring at a moving member moved via the reducer;
- a motor encoder configured to detect a position of an output member that outputs rotation of the motor;
- and
- a device encoder configured to detect a position of the moving member moved via the reducer.
A motor drive device configured to perform motion control of a moving member via a reducer connected to a motor, the motor drive device comprising:
- a thrust control unit configured to generate a position command value for the motor based on an input thrust command value;
- a motor control unit configured to generate a current value to control the motor based on the position command value for the motor;
- a motor encoder configured to detect a position of an output member that outputs rotation of the motor;
- a device encoder configured to detect a position of the moving member moved via the reducer;
- and
- a thrust measuring unit configured to obtain thrust occurring at the moving member moved via the reducer,
- wherein the motor control unit executes a first feedback control according to an output of the motor encoder, and
- wherein the thrust control unit executes a second feedback control according to an output of the thrust measuring unit.
A control method of a motor drive device configured to perform motion control of a moving member via a reducer connected to a motor, the method comprising:
- performing a thrust control procedure to generate a position command value for the motor based on an input thrust command value;
- performing a motor control procedure to generate a current value to control the motor based on the position command value for the motor;
- and
- performing a feedback procedure, wherein
- a first feedback control is performed in the motor control procedure, according to detection results of a motor position detecting unit configured to detect a position of an output member that outputs rotation of the motor, and
- a second feedback control is performed in the thrust control procedure, according to detection results of a thrust measuring unit configured to detect thrust occurring at the moving member moved via the reducer.
Dependencies are inferred from the claim text.