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:
Oct. 08, 2019
Filed:
Aug. 28, 2017
Applicant:
Kabushiki Kaisha Toshiba, Minato-ku, JP;
Inventor:
Junji Oaki, Kawasaki, JP;
Assignee:
Kabushiki Kaisha Toshiba, Minato-ku, JP;
Primary Examiner:
Int. Cl.
CPC ...
B25J 9/16 (2006.01);
U.S. Cl.
CPC ...
B25J 9/1633 (2013.01); B25J 9/1638 (2013.01); B25J 9/1676 (2013.01); G05B 2219/39353 (2013.01); G05B 2219/39355 (2013.01); G05B 2219/41374 (2013.01); G05B 2219/41387 (2013.01);
Abstract
According to one embodiment, a robot control device is used for a robot arm including a link and a motor for rotationally driving the link. The robot control device includes a derivation part. The derivation part derives a first estimated value including a variation of a rotation angle of the link and a second estimated value including a variation of a rotation angle of the motor, based on an angular velocity and a current reference value of the motor. Furthermore, the derivation part derives an external force generated to the robot arm, based on a difference between the first estimated value and the second estimated value.