Method and apparatus for correcting actuator positioning error

摘要

A method of correcting positional error in an actuator that is equipped with a motor and a wave gear reduction drive that transmits a motor output to the target load. Positioning error relative to the absolute position of the actuator output shaft is measured, to compile error correction data relating to each position on the rotation of the motor shaft. The rotational position of the motor shaft is detected and rotational position correction information produced by adding error correction values assigned to the position concerned. The rotational positional error information thus produced is used as position feedback information for controlling the positioning of the output shaft.