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:
Feb. 18, 2003
Filed:
Apr. 19, 2001
Hirohiko Arai, Tsukuba, JP;
Kazuo Tanie, Tsukuba, JP;
Yasuo Hayashibara, Yokohama, JP;
Yukinobu Sonoda, Kawashi, JP;
Tomohito Takubo, Tsukuba, JP;
Abstract
A control of a cooperative object-transporting robot which transports an object in cooperation with a man. The robot shares substantially a half of the weight of the object with the man, while the object is kept in a horizontal posture. A force applied to the robot by the object is detected by a force sensor, and based on the signal from the force sensor, a motion instruction is output for the motion components by the rotational force component &tgr; around the horizontal axis and the translational force component Fx in the horizontal back-and-forth direction, upon setting a gain to reduce the resistance forces of the robot to small values. The translational force component F in the direction of the object short axis is constrained so that no translational motion in the direction of the object short axis occurs.