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:
Aug. 04, 2020
Filed:
May. 23, 2016
Waseda University, Tokyo, JP;
Alexander Schmitz, Tokyo, JP;
Soumya Bhavaraju, Tokyo, JP;
Yoshihiro Sakamoto, Tokyo, JP;
Gonzaro Aguirre Dominguez, Tokyo, JP;
Ritsuki Sato, Tokyo, JP;
Wei Wang, Tokyo, JP;
Shigeki Sugano, Tokyo, JP;
WASEDA UNIVERSITY, Tokyo, JP;
Abstract
A control system () according to the present invention includes a robot arm () provided in a manner capable of moving in a given space, a motor () for operating the robot arm (), a torque adjustment device () for operating in a manner capable of adjusting a transmitted torque that is transmitted from the motor () to the robot arm (), and a control device () for performing operation control of the robot arm (). The robot arm () is provided with a gravity-compensating mechanism () for cancelling an effect of gravity due to the robot arm (), and the control device () commands adjustment of the transmitted torque at the torque adjustment device (), without taking into account the effect of the gravity of the robot arm ().