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:
Jun. 23, 2020
Filed:
Aug. 24, 2016
Applicant:
Panasonic Intellectual Property Management Co., Ltd., Osaka, JP;
Inventors:
Hiroyuki Nakata, Osaka, JP;
Atsumi Hashimoto, Osaka, JP;
Ryosuke Yamamoto, Osaka, JP;
Yasuyoshi Honuchi, Osaka, JP;
Assignee:
Attorney:
Primary Examiner:
Int. Cl.
CPC ...
G01L 5/00 (2006.01); B25J 19/02 (2006.01); G01L 3/24 (2006.01); B25J 9/16 (2006.01); G01L 5/22 (2006.01);
U.S. Cl.
CPC ...
G01L 5/0052 (2013.01); B25J 9/1674 (2013.01); B25J 19/02 (2013.01); G01L 3/24 (2013.01); G01L 5/226 (2013.01); G05B 2219/40317 (2013.01); Y10S 901/46 (2013.01);
Abstract
An external force torque due to a collision as a collision torque estimation value is estimated by subtracting a dynamic torque obtained by an inverse dynamic calculation of a robot from a torque output to a gear reducer by a motor. It is determined that the robot receives an external force if the collision torque estimation value is greater than a predetermined collision detection threshold.