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. 27, 2010
Filed:
Feb. 25, 2005
Junji Oaki, Kanagawa-Ken, JP;
Hideaki Hashimoto, Kanagawa-Ken, JP;
Fumio Ozaki, Kanagawa-Ken, JP;
Hirokazu Sato, Tokyo, JP;
Junji Oaki, Kanagawa-Ken, JP;
Hideaki Hashimoto, Kanagawa-Ken, JP;
Fumio Ozaki, Kanagawa-Ken, JP;
Hirokazu Sato, Tokyo, JP;
Kabushiki Kaisha Toshiba, Tokyo, JP;
Abstract
A robot controller according to an embodiment of the present invention comprises a base; a first link; a first actuator which drives to rotate the first link relative to the base; a first torque transmission mechanism which transmits the torque of the first actuator to the first link at a speed reducing ratio of N; a first angular sensor which detects a rotating angle θof the first actuator; a first angular velocity sensor which detects an angular velocity ωof the first link rotating relatively to the base; and a processor which calculates an angle of the first link relatively to the base by using a high frequency content of an integrated value of ωand a low frequency content of θ*N, the high frequency content being equal to a first frequency or higher and the low frequency content being equal to a first frequency or lower.