CONTROLLER AND REDUCTION GEAR SYSTEM

摘要

PROBLEM TO BE SOLVED: To provide a control technology capable of easily reducing an angle transmission error generated under a load-added condition.SOLUTION: The controller for controlling a motor driving an oscillating reduction gear having an oscillating gear formed at a position in which at least one hole is eccentric, includes: an angle acquisition part for obtaining input information about an input rotational angle indicating the rotational angle of the motor; an estimation part for estimating an angle error between the input rotational angle and an output rotational angle indicating the rotational angle of the oscillating reduction gear based on the number of holes; and a correction part for determining a compensation current value according to the angle error, and correcting a command current value by using the compensation current value to set a size of a current supplied to the motor.SELECTED DRAWING: Figure 1