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:
Mar. 02, 2010
Filed:
Jul. 21, 2004
Kouhei Ohnishi, Yokohama, JP;
Masaki Kitajima, Shinanomachi, JP;
Yasuhide Morikawa, Tokyo, JP;
Souji Ozawa, Tokyo, JP;
Toshiharu Furukawa, Shinanomachi, JP;
Toshiyuki Murakami, Yokohama, JP;
Kazuo Nakazawa, Yokohama, JP;
Wataru Iida, Yokohama, JP;
Tomoko Yano, Yokohama, JP;
Kouhei Ohnishi, Yokohama, JP;
Masaki Kitajima, Shinanomachi, JP;
Yasuhide Morikawa, Tokyo, JP;
Souji Ozawa, Tokyo, JP;
Toshiharu Furukawa, Shinanomachi, JP;
Toshiyuki Murakami, Yokohama, JP;
Kazuo Nakazawa, Yokohama, JP;
Wataru Iida, Yokohama, JP;
Tomoko Yano, Yokohama, JP;
Keio University, Tokyo, JP;
Abstract
A position/force control device includes position detectors on a masterside and on a slaveside. Reaction force estimation observersandestimate reaction force based on outputs of the position detectors. A position control partgenerates acceleration signals a, afor controlling positions on the master side and on the slave side on the basis of the position signals outputted by the position detectors. The operation force control partgenerates acceleration signals a, afor controlling forces applied to the master side and to the slave side based upon the outputs from reaction force estimation observersand. The acceleration composition partcomposes the two sets of acceleration signals a, a, and a, a, and outputs the driving signals for the master side and the slave side.