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:
Jul. 19, 2005
Filed:
Nov. 29, 2000
Hideo Nagata, Kitakyushu, JP;
Yasuyuki Inoue, Kitakyushu, JP;
Ken'ichi Yasuda, Kitakyushu, JP;
Toshiyuki Kurebayashi, Kitakyushu, JP;
Hideo Nagata, Kitakyushu, JP;
Yasuyuki Inoue, Kitakyushu, JP;
Ken'ichi Yasuda, Kitakyushu, JP;
Toshiyuki Kurebayashi, Kitakyushu, JP;
Kabushiki Kaisha Yaskawa Denki, Kitakyushu, JP;
Abstract
A robot controller for keeping the posture of a tool in a task coordinate system by a simple processing and allowing a robot to perform flexible translational motion. A robot controller for controlling a motor for driving a joint by a control circuit having a position/speed state feedback loop, has a mechanism for measuring the angle of a joint of a robot, a mechanism for storing the initial posture of a tool attached to the end of a hand of the robot, a mechanism for setting the position or speed gain of a specific joint axis smaller than the position or speed gains of the other joint axes, and a mechanism for calculating the correction of a position or speed command to keep the tool posture with respect to the robot base on the basis of the angle of the joint and the initial posture of the tool.