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The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.

The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.

Patent No.:

US 10155316 B1

PDFFull Text
Date of Patent:
Dec. 18, 2018

Filed:

Aug. 25, 2016

Manipulator-calibrating method, manipulator, and manipulator system

Applicant:

Olympus Corporation, Tokyo, JP;

Inventors:

Hiroshi Wakai, Tokyo, JP;

Masatoshi Iida, Tokyo, JP;

Naoya Hatakeyama, Tokyo, JP;

Assignee:

OLYMPUS CORPORATION, Tokyo, JP;

Attorney:

Scully, Scott, Murphy & Presser, P.C.

Primary Examiner:

Ronnie M Mancho

Int. Cl.
CPC ...
G06F 19/00 (2018.01); B25J 9/16 (2006.01); A61B 1/00 (2006.01); G02B 23/24 (2006.01); A61B 34/00 (2016.01); A61B 34/37 (2016.01); B25J 13/08 (2006.01); A61B 17/00 (2006.01); A61B 34/30 (2016.01); A61B 34/20 (2016.01); A61B 90/00 (2016.01);
U.S. Cl.
CPC ...
B25J 9/1692 (2013.01); A61B 1/00006 (2013.01); A61B 1/00009 (2013.01); A61B 1/00057 (2013.01); A61B 1/00087 (2013.01); A61B 1/00133 (2013.01); A61B 1/00149 (2013.01); A61B 34/37 (2016.02); A61B 34/71 (2016.02); B25J 13/085 (2013.01); G02B 23/2476 (2013.01); A61B 2017/00725 (2013.01); A61B 2034/2065 (2016.02); A61B 2034/301 (2016.02); A61B 2090/064 (2016.02); G05B 2219/39024 (2013.01);
Abstract

A method of calibrating a manipulator including a joint portion, a drive unit that generates a driving force for driving the joint portion, and a driving force transmission member that is inserted into a tubular member and transmits the driving force generated from the drive unit to the joint portion includes: an arrangement step of arranging the manipulator in a usable state; a load-measuring step of issuing an operation command based on a predetermined calibrating drive pattern to the drive unit and measuring a load generated in the manipulator at that time; and a control parameter-setting step of setting a main-driving control parameter based on the load measured in the load-measuring step.

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