Controller and control method
AssigneeFanuc Corporation
InventorsChao Zhi, Wenjie Chen, Kaimeng Wang, Kazuomi Maeda
Life of this patent
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Abstract
A controller that performs, for one or more axes of a machine, position control by taking friction into consideration includes a data acquisition unit acquiring at least a position command and a position feedback and a compensation torque estimation unit estimating coefficients of a friction model used when the position control is performed, on the basis of a position deviation which is a difference between the position command and the position feedback.
Claims8
A controller performing, for one or more axes of a machine, position control that takes friction into consideration, the controller comprising:
- a data acquisition unit acquiring at least a position command and a position feedback;
- and
- a compensation torque estimation unit estimating coefficients of a friction model used when the position control is performed, on the basis of a position deviation that is a difference between the position command and the position feedback.
A control method for performing, for one or more axes of a machine, position control that takes friction into consideration, the control method comprising:
- a data acquisition step of acquiring at least a position command and a position feedback;
- and
- a compensation torque estimation step of estimating coefficients of a friction model used when the position control is performed, on the basis of a position deviation that is a difference between the position command and the position feedback.
Dependencies are inferred from the claim text.