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. 05, 2008
Filed:
Mar. 13, 2006
Tomokazu Hirabayashi, Suwa, JP;
Tomokazu Hirabayashi, Suwa, JP;
Seiko Epson Corporation, , JP;
Abstract
To provide an acceleration/deceleration control method, apparatus and the like for determining the acceleration/decelerations of motors according to, for example, the drive directions, acceleration and deceleration of the motors by a simple algorism. A gravity torque calculation unitA calculates gravity torque acting on a joint drive motors for operating a manipulatoras a machine having joints, and an acceleration/deceleration calculation unitD calculates an acceleration speed and/or a deceleration speed of the joint drive motor based on an acceleration/deceleration correction coefficient and a set basic acceleration/deceleration, wherein the acceleration/deceleration correction coefficient is calculated by an acceleration/deceleration correction coefficient calculation unitB based on the gravity compensation coefficient selected from a plurality of preset gravity compensation coefficients according to a drive condition affected by gravity and on the gravity torque.
Data source: USPTO (United States Patent and Trademark Office) public patent records. Weekly synchronization. How IDiyas builds this profile