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. 12, 2016
Filed:
Oct. 31, 2013
Honda Motor Co., Ltd., Tokyo, JP;
Atsuo Orita, Wako, JP;
HONDA MOTOR CO., LTD., Tokyo, JP;
Abstract
Provided is a control device for a link mechanism capable of preventing a damage of joint mechanisms even in the case of a collision of a movable part against an external object. The control deviceincludes: a characteristic determination unitwhich determines desired stiffness k_cmd_i of an elastic elementof each joint mechanism Ji so as to be within a range of first stiffness k_i wherein the joint maximum elastic energy is equal to or more than joint collision kinetic energy to second stiffness k_i wherein a first time is equal to or longer than a second time; and a characteristic control unitwhich controls stiffness k_i of the elastic elementof each joint mechanism Ji to be the desired stiffness k_cmd_i.