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:
Sep. 24, 2013
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 joint angular velocity estimation unit () calculating a plurality of first joint angular accelerations in already executed control cycles by calculating a joint angular acceleration from a joint angle for each control cycle, and estimating a joint angular velocity in a still unexecuted control cycle from the first joint angular accelerations; a velocity determination unit () determining whether the estimated joint angular velocity exceeds a maximum velocity; and a suppression velocity calculation unit () calculating a suppression joint angular velocity in the still unexecuted control cycle from the estimated joint angular velocity.