A method for suppressing variation of the rotational speed of an actuator

A method for suppressing variation of the speed of an output shaft (7) of an actuator (2), which is equipped with a motor (3) and a wave gear device (5), the method for suppressing variation of the rotational speed of an actuator being characterized in that it comprises: Using an absolute position of one revolution of the motor rotation shaft (4) as a reference to measure for each rotational angular position of the motor rotation shaft (4) has a positioning error of each rotation angle position of the actuator output shaft (7) and error correction data (C) for the actuator output shaft (7) to produce; Detecting a rotational position of the motor rotation shaft (4); Using the error correction data (C) to determine an error correction value which is assigned to the detected rotational position; Calculate the speed of the motor rotation shaft (4) from a value which is obtained by using the error correction value to correct the rotational position, or, alternatively, correcting the rotational speed of the motor rotation shaft (4) that has been calculated from the rotational position based on the error correction value is; and Use of certain ...