A control apparatus includes a control unit that controls a first motor and a second motor. The control unit controls a rotation angle of a driven unit using one of the first motor and the second motor based on a direction of disturbance and controls, using the other of the first motor and the second motor, backlash removal from a decelerating unit configured to transmit an output of the first motor or the second motor to the driven unit.

A robot includes a first driving source, a second driving source, an output portion to which both rotation of the first driving source and rotation of the second driving source are transmitted, and a control device configured to execute a first process and a second process. In the first process, the control device controls the first driving source and the second driving source such that when the output portion is rotated toward a predetermined direction, a rotational direction of the output portion is limited to the predetermined direction. In the second process, the control device controls the first driving source and the second driving source such that when the output portion is rotated toward a predetermined direction, the output portion is able to rotate toward a direction opposite to the predetermined direction.

A robot includes a first driving source, a second driving source, an output portion to which both rotation of the first driving source and rotation of the second driving source are transmitted, and a control device configured to execute a first process and a second process. In the first process, the control device controls the first driving source and the second driving source such that when the output portion is rotated toward a predetermined direction, a rotational direction of the output portion is limited to the predetermined direction. In the second process, the control device controls the first driving source and the second driving source such that when the output portion is rotated toward a predetermined direction, the output portion is able to rotate toward a direction opposite to the predetermined direction.

A method of controlling backlash of a first driven gear and a second driven gear mechanically connected in parallel with an actuator gear, and which first, second, and third gears form a gear train. The method includes a) obtaining a current position of the gear train, b) obtaining a current backlash value of the gear train from a data structure having a plurality of pairs of positions of the gear train and corresponding backlash value which have all been determined in an empirical manner for the actuator gear, c) determining a first backlash compensation for the first gear motor and a second backlash compensation for the second gear motor, wherein the first and second backlash compensations are equal and opposite values based on the current backlash value, and d) controlling the first and second gear motors based on the compensations.

A control apparatus includes a control unit that controls a first motor and a second motor. The control unit controls a rotation angle of a driven unit using one of the first motor and the second motor based on a direction of disturbance and controls, using the other of the first motor and the second motor, backlash removal from a decelerating unit configured to transmit an output of the first motor or the second motor to the driven unit.

Methods and systems are provided for an electric vehicle are provided. In one example, a method for an electric vehicle having a first prime mover for supplying a torque to a first axle and a second prime mover for supplying a torque to a second axle comprises transitioning the first prime mover and the second prime mover to cross a lash zone one before the other, where the lash zone of the second prime mover does not overlap with the lash zone of the first prime mover. In one example, the first prime mover is controlled with a first electronic controller and the second prime mover is controlled with a second electronic controller positioned separately in the vehicle from the first electronic controller. In one example, the method further comprises communicating information from the first electronic controller to the second electronic controller via a communication area network.