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:
Sep. 05, 2023
Filed:
Jun. 03, 2020
Gwangju Institute of Science and Technology, Gwangju, KR;
Sun Kyu Lee, Gwangju, KR;
Jong Jae Kim, Gwangju, KR;
Sang Ki Park, Gwangju, KR;
Dae Gweon Koh, Gwangju, KR;
Jae Yun Sim, Gwangju, KR;
Gwangju Institute of Science and Technology, Gwangju, KR;
Abstract
An embodiment of the present disclosure provides a manipulator for a finishing work, including: a base; an arm comprising a plurality of links, a plurality of joints connecting the plurality of links, and a plurality of actuators generating rotation of at least some of the plurality of joints; and a processor determining a driving torque of each of the plurality of actuators considering a self-weight effect of the manipulator and controlling the plurality of actuators based on the determined driving torque.