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Servomotor control device

  • US 10,409,250 B2
  • Filed: 06/04/2018
  • Issued: 09/10/2019
  • Est. Priority Date: 06/06/2017
  • Status: Active Grant
First Claim
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1. A servomotor control device comprising:

  • a servomotor;

    a driven body that is driven by way of the servomotor;

    a connection mechanism. that connects the servomotor and the driven body to transmit power of the servomotor to the driven body;

    a first position detection section that detects a position of the servomotor;

    a second position detection section that detects a position of the driven body; and

    a motor control unit that controls the servomotor,wherein the motor control unit includes;

    a force estimation section that estimates a drive force acting on the driven body at a connection part between the connection mechanism and the driven body;

    a rigidity estimation section. that estimates a magnitude of rigidity of the connection mechanism based on a position of the servomotor detected. by the first position detection section, a position of the driven body detected. by the second position detection section, and a drive force estimated by the drive force estimation. section; and

    a rigidity variation detection section that detects a change in rigidity of the connection mechanism, based on the magnitude of rigidity estimated by the rigidity estimation section.

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