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:
Oct. 20, 2015
Filed:
Mar. 15, 2013
Applicant:
Hyundai Motor Company, Seoul, KR;
Inventors:
Jung Ho Seo, Suwon-si, KR;
Woo Sung Yang, Seoul, KR;
Assignee:
HYUNDAI MOTOR COMPANY, Seoul, KR;
Attorney:
Primary Examiner:
Int. Cl.
CPC ...
B25J 9/00 (2006.01); B25J 9/16 (2006.01); A63B 21/00 (2006.01);
U.S. Cl.
CPC ...
B25J 9/1607 (2013.01); A63B 21/1434 (2013.01); B25J 9/0006 (2013.01); B25J 9/0087 (2013.01); B25J 9/1682 (2013.01); G05B 2219/40305 (2013.01);
Abstract
A method of controlling two arms of a robot including: a finding-out step of finding out position differences in axial directions of an end of one arm and an end of the other arm; a generating step of generating a virtual force at the end of the other arm based on the position differences that have been found out; and a converting step of converting the generated virtual force into a driving torque for joints of the other arm, using a Jacobian matrix.