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:
May. 14, 2013
Filed:
Mar. 17, 2011
Applicants:
Junichiro Ooga, Kanagawa-ken, JP;
Junji Oaki, Kanagawa-ken, JP;
Hideki Ogawa, Tokyo, JP;
Inventors:
Assignee:
Kabushiki Kaisha Toshiba, Tokyo, JP;
Attorney:
Primary Examiner:
Assistant Examiner:
Int. Cl.
CPC ...
B25J 9/18 (2006.01); G05B 19/19 (2006.01); G05B 19/04 (2006.01); G05B 19/408 (2006.01); G05B 15/00 (2006.01); G05B 19/00 (2006.01); G05B 19/18 (2006.01);
U.S. Cl.
CPC ...
Abstract
In an embodiment of the present invention, with the purpose of more accurately calculating a disturbance torque generated by an external force acting on a robot, friction parameters contained in algorithms, such as a friction coefficient and a dead-zone threshold value, are dynamically changed based on the mode of operation, the operation speed, and the like. In this manner, a drive torque is estimated with high accuracy.