18948884. Reducing Kinematic Error (ABB Schweiz AG)
Reducing Kinematic Error
Organization Name
Inventor(s)
Arne Wahrburg of Weiterstadt (DE)
Richard Roberts of Gilching (DE)
[[:Category:Mikael Norrl�f of Norrköping (SE)|Mikael Norrl�f of Norrköping (SE)]][[Category:Mikael Norrl�f of Norrköping (SE)]]
Reducing Kinematic Error
This abstract first appeared for US patent application 18948884 titled 'Reducing Kinematic Error
Original Abstract Submitted
A method includes providing a kinematic correction, outputting a first drive control signal specifying a motor speed having a first kinematic correction output based on a first parameter vector; extracting a frequency component and determining a first feedback vector; outputting to the motor a second drive control signal specifying a motor speed as a sum of the standard speed and a second kinematic correction output based on a second parameter vector; extracting a frequency component and determining a second feedback vector defining a second feedback amplitude and a second feedback phase; subtracting the first feedback vector from the second feedback vector to obtain a feedback difference vector; transforming the feedback difference vector into a difference; applying the transformation to the second feedback vector to obtain a third parameter vector; and programming the kinematic correction generator using the third parameter vector.