A method for driving an actuator of an HVAC system having a region of mechanical play is provided, and which comprises the steps of: a] monitoring a position of a movable member of the HVAC system or at least one rotatable element of the actuator to determine when the region of mechanical play has been entered or exited; and b] ramping a drive power to the actuator between a zero-velocity drive power and a steady-state-velocity drive power during the region of mechanical play. The HVAC system implementing the above method is not only capable of reducing the noise produced by an HVAC system, but is also capable of reducing an over-powering of the actuator when there is a low load on the system.

A motor control system including an input shaft connected to an output shaft of the motor and an output shaft connected to a load, the system including: a detection unit for detecting a rotation speed of the output shaft; a speed deviation generation unit generating a speed command position and calculates a speed deviation between the speed command and rotation speed of the output shaft; an angular transmission error compensation unit estimated between a rotation angle of the output shaft and of the speed reducer, and corrects the speed command, speed deviation, or rotation speed of the output shaft detected based on the event detected by the detection unit, based on the estimated angular transmission error; a current command generation unit generates a current command based on the speed deviation; and a current control unit controls a current supplied to the motor based on the current command.

A tooth contact position adjustment amount estimation device that performs processing with respect to estimating a tooth contact position adjustment amount for dimensional data of parts constituting a power transmission mechanism according to the present invention, comprising: a machine learning device that performs processing with respect to estimating the tooth contact position adjustment amount for the dimensional data of parts constituting the power transmission mechanism, wherein the machine learning device observes part dimensional data, which is the dimensional data of parts constituting the power transmission mechanism, as a state variable indicating a current state of an environment, and performs processing with respect to estimating the tooth contact position adjustment amount for the dimensional data of parts constituting the power transmission mechanism in assembling the power transmission mechanism by performing processing with respect to machine learning based on the observed state variable.

A robot controlling method for operating an arm using a motor includes: performing, before the arm stops, addition to add a backlash compensation value to a position command which is input to the motor; and performing, in a period during which the robot arm is not in motion, subtraction to reduce the backlash compensation value added to the position command.

The present invention enables to easily and accurately measure a joint of a robot apparatus, in particular, a lost motion of a driving system of the joint, and, to easily and accurately perform a diagnosis of a lifetime or a life expectancy of a joint mechanism of the robot apparatus based on a measured result.

A numerical control device controlling a machine tool capable of machining on orthogonal three axes includes a parameter storage to store a noise-command allowable width to be used for determining whether to perform movement based on a movement command, and a path-correction processor to compare an absolute value of a movement amount according to a movement command in a command non-target axis direction that is a direction of an axis not included in a designated plane with the noise-command allowable width when a machining program block includes the movement command in the command non-target axis direction, determine the movement command in the command non-target axis direction to be a noise command when the absolute value of the movement amount according to the movement command in the command non-target axis direction is smaller, and perform path correction to set a movement amount according to the noise command to zero.

To provide a motor control device, motor control method, and non-transitory computer readable medium recording a motor control program, which add a backlash correction amount to a position command for a motor at the appropriate timing. Included are a first position detection part that detects a first position which is a position of a movable part; a second position detection part that detects a second position which is a position of a driven part; a positional error calculation part that calculates positional error, which is deviation between a converted first position detected value and a second position detected value; and a backlash correction part that adds a backlash correction amount when the absolute value for the variation of the positional error since reversal of a position command was detected exceeds the predetermined reference value.

A system and method for measuring an amount of backlash in an actuator assembly that includes a housing assembly, an actuator, a drive source, an actuator position sensor, a drive source position sensor, and a controller. The controller is in operable communication with the drive source, the actuator position sensor, and the drive source position sensor, and is configured to selectively implement a built-in test that determines the amount of backlash in the actuator assembly.

The invention relates to a method for determining at least one property of a joint, such as a joint (112, 114, 116-119, 180) of a manipulator (110), wherein said joint is configured to be driven by at least one actuator, the actuator being configured to drive said joint (112, 114, 116-119, 180) via a drivetrain. The method comprises: clamping (200) said joint such that motion of the joint becomes constrained, and actuating (210) said drivetrain while monitoring at least one quantity associated with a torque of said actuator and at least one quantity associated with the actuator position in order to determine (220) at least one output value of said actuator, said output value corresponding to at least one joint position and determining (230) the at least one property of the joint based on said at least one output value. The invention further relates to a system for determining the at least one property of a joint.

The present invention enables to easily and accurately measure a joint of a robot apparatus, in particular, a lost motion of a driving system of the joint, and, to easily and accurately perform a diagnosis of a lifetime or a life expectancy of a joint mechanism of the robot apparatus based on a measured result.