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:
Apr. 12, 2011
Filed:
Dec. 06, 2005
Tetsuya Kubota, Kobe, JP;
Jun Fujimori, Kobe, JP;
Naoyuki Matsumoto, Okayama-Ken, JP;
Tetsuhiko Nishimura, Iwata, JP;
Tetsuya Kubota, Kobe, JP;
Jun Fujimori, Kobe, JP;
Naoyuki Matsumoto, Okayama-Ken, JP;
Tetsuhiko Nishimura, Iwata, JP;
Kawasaki Jukogyo Kabushiki Kaisha, Kobe, JP;
Abstract
An input unit enters angular displacements by which drive shafts of a robot arm are to be turned as teaching data into a control unit. The control unit converts the input angular displacements into position-attitude data, namely, converted commands, indicating a position of the free end of the robot arm and an attitude of the robot in a rectangular coordinate system through forward conversion. The control unit corrects the position-attitude data on the basis of inherent errors in the robot to provide corrected position-attitude data. The control unit converts the corrected position-attitude data into corrected angular displacements through inverse conversion and gives the corrected angular displacements to an actuator included in the robot. The inherent errors in the robot include mechanismic errors resulting from machining errors and assembling errors, installation errors and errors in the origins of axes.