Processing device, work machine, method of estimating backlash amount, and computer-readable storage medium storing program for estimating backlash amount

A method of estimating a backlash amount, comprising:

• acquiring, by a computer, an input phase, the input phase being a rotational phase of a rotation input portion of a speed reducer, the rotation input portion rotating based on torque input to the speed reducer;
• acquiring, by the computer, an output phase, the output phase being a rotational phase of a rotation output portion of the speed reducer, the output portion rotating based on torque from the rotation input portion;
• acquiring, by the computer, an estimated phase based on a reduction ratio and either one of the input phase or the output phase, the reduction ratio being a ratio of a rotational speed of the rotation input portion to a rotational speed of the rotation output portion;
• acquiring, by the computer, a phase difference, the phase difference being a difference between the other of the input phase or the output phase and the estimated phase;
• and
• outputting, by the computer, a backlash amount based on the phase difference.

A non-transitory computer-readable storage medium storing a program for estimating a backlash amount, the program causing a computer to execute:

• a first step of acquiring an input phase, the input phase being a rotational phase of a rotation input portion of a speed reducer, the rotation input portion rotating based on torque input to the speed reducer;
• a second step of acquiring an output phase, the output phase being a rotational phase of a rotation output portion of the speed reducer, the output portion rotating based on torque from the rotation input portion;
• a third step of acquiring an estimated phase based on a reduction ratio and either one of the input phase or the output phase, the reduction ratio being a ratio of a rotational speed of the rotation input portion to a rotational speed of the rotation output portion;
• a fourth step of acquiring a phase difference, the phase difference being a difference between the other of the input phase or the output phase and the estimated phase;
• and
• a fifth step of outputting a backlash amount based on the phase difference.