US Patent No. 10,775,766

COMPENSATION QUANTITY ACQUISITION DEVICE, FEED MECHANISM CONTROL DEVICE, COMPENSATION QUANTITY ACQUIRING METHOD AND FEED MECHANISM CONTROL METHOD


Patent No. 10,775,766
Issue Date September 15, 2020
Title Compensation Quantity Acquisition Device, Feed Mechanism Control Device, Compensation Quantity Acquiring Method And Feed Mechanism Control Method
Inventorship Hiromitsu Kadokura, Yamanashi-ken (JP)
Assignee FANUC CORPORATION, Yamanashi (JP)

Claim of US Patent No. 10,775,766

1. A compensation quantity acquisition device used when a movement target is moved in a first axis direction, comprising:a vibration acquisitor configured to acquire vibration of the movement target in a second axis direction, orthogonal to the first axis direction when the movement target is moved in the first axis direction;
a positional frequency characteristic acquisitor configured to acquire a positional frequency characteristic by performing Fourier transformation on the vibration in the second axis direction acquired by the vibration acquisitor;
a position independent frequency storage configured to store a positional frequency of the vibration in the second axis direction that occurs independently of a position of the movement target in the first axis direction, as a position independent frequency;
a position dependent vibration acquisitor configured to perform inverse Fourier transformation on the positional frequency characteristic from which a component of the position independent frequency has been removed, to recover the vibration of the movement target in the second axial direction as position dependent vibration; and
a compensation quantity acquisitor configured to acquire positional compensation quantity of the movement target in the second axis direction that cancels the position dependent vibration.