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:
Aug. 07, 2012
Filed:
Apr. 02, 2008
Makoto Jinno, Ota-ku, JP;
Takamitsu Sunaoshi, Yokohama, JP;
Shigeru Omori, Ashigarakami-gun, JP;
Terumo Kabushiki Kaisha, Tokyo, JP;
Kabushiki Kaisha Toshiba, Tokyo, JP;
Abstract
A manipulator has a working unit including an end effector and a posture axis for changing the orientation of the manipulator, a compound mechanism provided on the working unit, and a controller for actuating a gripper axis, a yaw axis, and a roll axis by respectively controlling movement positions of three motors. The controller includes a torque generation detector for detecting a timing at which torque is generated on the gripper axis. When the controller detects the timing at which a torque τis generated on the gripper axis under operation of a given motor, the movement positions of the plural motors are shifted and set, corresponding to the directions at which interference torques are generated with respect to the yaw axis and the roll axis, and to predetermined positions of the same directions.