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SERVOMOTOR CONTROL DEVICE, SERVOMOTOR CONTROL METHOD, AND COMPUTER READABLE RECORDING MEDIUM

  • US 20180200882A1
  • Filed: 01/04/2018
  • Published: 07/19/2018
  • Est. Priority Date: 01/13/2017
  • Status: Abandoned Application
First Claim
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1. A servomotor control device, comprising:

  • a servomotor;

    a driven body configured to be driven by the servomotor;

    a connection mechanism configured to connect the servomotor and the driven body to transfer power of the servomotor to the driven body;

    a position command generation unit configured to generate a position command value for the driven body;

    a motor control unit configured to control the servomotor using the position command value;

    a force estimation unit configured to estimate a force estimated value which is drive force acting on the driven body at a connecting part with the connection mechanism;

    a compensation amount generation part configured to generate a compensation amount for compensating the position command value generated by the position command generation unit, using a product of the force estimated value and a coefficient indicating a physical constant; and

    a coefficient setting unit configured to change the coefficient indicating the physical constant by the force estimated value or a magnitude of the compensation amount generated.

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