OPENTECHNICAL PUBLICATION
OT-2026-000001433

Position control device

Published: 2026-09-15T19:05:48.656539Z
Permanent URL: https://opentechnical.org/p/OT-2026-000001433
Categories: Robotics & Automation > Robot Architectures

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ABSTRACT

A position control device for a target plant includes a coefficient
calculation unit that performs temporary operation of the target plant so as
to reverse a direction of travel of the target plant with backlash
compensation turned off and calculates a coefficient for reverse detection for
each of a plurality of backlash portions, based on a position command value at
a timing when a position deviation between a position detection value for a
load end and the position command value increases rapidly, a reverse detection
unit that operates the target plant with the backlash compensation turned on
and detects a timing when a load-side transmission torque is reversed, based
on the coefficient, the position command value, and a moment of inertia of the
entire load, and a compensation value calculation unit that increases or
decreases a backlash compensation value at the timing when reverse is
detected.

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OpenTechnical publication OT-2026-000001433
Published 2026-09-15T19:05:48.656539Z
https://opentechnical.org/p/OT-2026-000001433