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.:
Date of Patent:
Mar. 26, 2019
Filed:
Apr. 28, 2015
Muscle Corporation, Osaka, JP;
Katsuya Kanaoka, Shiga, JP;
Muscle Corporation, Osaka, JP;
Abstract
A master-slave system () according to the present invention includes a slave actuator (Asto As) for generating a slave driving force (τ) to control a slave robot in terms of driving force, an effective driving force sensor (Fsto Fs) for measuring a slave effective driving force (τ) actually acting on a terminal output axis of the slave actuator (Asto As), and a slave target effective driving force calculating device () for calculating a slave target effective driving force (τ) which is a target value for the slave effective driving force (τ), on the basis of a master operating force (f) applied to the master robot by an operator (U). The slave actuator (Asto As) generates the slave driving force (τ) on the basis of the slave target effective driving force (τ) and the slave effective driving force (τ).