US 12,013,678 B2
Backlash compensation in motion control systems
Narayanan Ramakrishnan, New City, NY (US); Omar Khalaf, Tarrytown, NY (US); and David G. Henderson, Newark, DE (US)
Assigned to Siemens Healthcare Diagnostics Inc., Tarrytown, NY (US)
Appl. No. 17/758,871
Filed by Siemens Healthcare Diagnostics Inc., Tarrytown, NY (US)
PCT Filed Jan. 15, 2021, PCT No. PCT/US2021/013670
§ 371(c)(1), (2) Date Jul. 14, 2022,
PCT Pub. No. WO2021/146578, PCT Pub. Date Jul. 22, 2021.
Claims priority of provisional application 62/962,854, filed on Jan. 17, 2020.
Prior Publication US 2023/0041248 A1, Feb. 9, 2023
Int. Cl. G05B 19/404 (2006.01); H02P 8/00 (2006.01)
CPC G05B 19/404 (2013.01) [H02P 8/00 (2013.01); G05B 2219/41078 (2013.01); G05B 2219/41209 (2013.01)] 22 Claims
OG exemplary drawing
 
1. A method for backlash compensation in motion control systems, the method comprising:
homing a payload of a motion control system;
performing a tooth-pitch non-uniformity procedure on the motion control system to identify a non-uniformity correction;
generating a backlash lookup table for use in backlash correction during normal operation of the motion control system, wherein the backlash lookup table is generated using a training process comprising:
selecting a move sequence for operating the motion control system,
executing the move sequence with the non-uniformity correction,
computing a backlash measurement describing backlash of one or more components of the motion control system during the move sequence, and
storing the backlash measurement in the backlash lookup table.