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. 08, 2014
Filed:
Mar. 13, 2012
Junji Oaki, Kanagawa-ken, JP;
Junichiro Ooga, Kanagawa-ken, JP;
Hideki Ogawa, Tokyo, JP;
Kabushiki Kaisha Toshiba, Tokyo, JP;
Abstract
A robot control apparatus includes an actuator; a generator unit; a first detection unit; a first computation unit to compute current positional data of the arm; a second computation unit to compute an input value; a third computation unit to compute an estimation value of a driving torque for driving the actuator; a fourth computation unit to compute a difference between the estimation value of the driving torque and a true value of the driving torque; and a second detection unit to detect a disturbance applied to the arm, wherein the second detection unit includes an update unit to estimate a parameter of a time-series model and updating the time-series model of the first sampling period by applying the parameter, and a determination unit to determine whether a disturbance occurs, by comparing the time-series model of the first sampling period with a time-series model of a second sampling period.