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. 26, 2013
Filed:
Oct. 23, 2009
Kyung Won Moon, Seoul, KR;
Kyung Shik Roh, Seongnam-si, KR;
Jong DO Choi, Suwon-si, KR;
Hyun Kyu Kim, Seoul, KR;
Kyung Won Moon, Seoul, KR;
Kyung Shik Roh, Seongnam-si, KR;
Jong Do Choi, Suwon-si, KR;
Hyun Kyu Kim, Seoul, KR;
Samsung Electronics Co., Ltd., Suwon-Si, KR;
Abstract
Disclosed are a robot arm having high back-drivability to interact with a human being, which is safely stopped, and a method of controlling the robot arm. When the operation of the robot arm having high back-drivability to interact with a human being is converted into a safety mode due to the occurrence of an emergency, in which the operation of the robot arm is stopped, only a torque having a degree to compensate for gravity applied to the robot arm, i.e., only a torque to maintain the kinematical position of the current state of the robot arm without falling of the robot arm due to gravity, is outputted to control the robot arm as if the robot arm is in a weightless state, thus being capable of safely stopping the robot arm.