Patent ID: 8511192
Filing Date: 2013-08-20
Classification: G05B,Y10T

Abstract:
1. A device for preventing backlash in a gear train used for positioning an object, comprising: A. a first drive gear having a plurality of gear teeth; B. a first motor having a drive shaft coupled to said first drive gear and said first motor shaft; C. a second drive gear having a plurality of gear teeth; D. a second motor having a drive shaft coupled to said second drive gear; E. a driven gear having a plurality of gear teeth, the gear teeth of said first and second drive gears engaging the gear teeth of said driven gear; G. said first motor transmitting a first motor torque to said driven gear through said first drive gear, said second motor transmitting a second motor torque to said driven gear through said second drive gear, said first motor torque and said second motor torque causing a rotational movement of said driven gear; F. a plurality of sensors for measuring said first and second motor torque, said first and second motor positions, and a position of said driven gear, where low-pass filters are applied while measuring said motor torque; G. a system controller defining a nominal trajectory of said driven gear; H. a position feedback controller for said driven gear for calculating a speed set point based at least upon said position of said driven gear and said nominal trajectory; I. a motor position and phase controller with a computing means for: J. a controlling means for controlling the position of said first motor axis and said second motor axis, said controlling means comprising a phase adaption algorithm, said algorithm providing a motor torque set point for said first motor and second motor based on said position set point and said measured motor position, said controlling means positioning said object by transmitting the motor torque set point to said first motor and second motor.