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:
Feb. 09, 2016
Filed:
May. 30, 2013
Kobe Steel, Ltd., Hyogo, JP;
Yoshiharu Nishida, Kobe, JP;
Takashi Wada, Kobe, JP;
Yoshihide Inoue, Fujisawa, JP;
Shuichi Inada, Fujisawa, JP;
Kobe Steel, Ltd., Hyogo, JP;
Abstract
In a trajectory control device () for an articulated robot, a first dynamic characteristic calculation unit () is provided with a high-frequency cutoff characteristic having a cutoff frequency which is lower than the natural oscillation frequency of the robot, performs filtering processing with respect to a joint-angle command value (θc), and outputs a processed joint-angle target value (θd). A second dynamic characteristic calculation unit () is provided with a high-frequency cutoff characteristic having a cutoff frequency which is lower than that of the first dynamic characteristic calculation unit (), performs filtering processing with respect to the output from a coupling-torque compensation command value calculation unit (), and outputs a processed coupling-torque compensation value (cd).