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. 10, 2012
Filed:
Sep. 28, 2009
Junichiro Oga, Kawasaki, JP;
Junji Oaki, Kawasaki, JP;
Hideki Ogawa, Tokyo, JP;
Kabushiki Kaisha Toshiba, Tokyo, JP;
Abstract
A robot control apparatus includes: a drive unit () driving an actuator () based on a torque command value; a drive torque estimation unit () estimating a drive torque from a joint shaft angle; an external torque calculation unit () calculating a difference between the estimated drive torque and the torque command value as an external torque; a Jacobian matrix calculation unit () calculating a Jacobian matrix based on the joint shaft angle; an external force calculation unit () calculating an external force from the Jacobian matrix and the external torque; and a correction amount calculation unit () calculating a correction amount from the external force.
Data source: USPTO (United States Patent and Trademark Office) public patent records. Weekly synchronization. How IDiyas builds this profile