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:
May. 24, 2016
Filed:
Jan. 02, 2014
Panasonic Corporation, Osaka, JP;
Yasunao Okazaki, Shiga, JP;
Abstract
A robot having joints includes a position information acquiring section that acquires time series information about a robot position, speed information, or acceleration information, a dynamics parameter switching section that switches a gravity term component and an inertia force term component of a motion equation separately between dynamics parameters including dynamics parameter of the robot gripping no object and dynamics parameter including the object gripped by the robot which robot arm gripping the object, and a desired torque calculation section that outputs a desired robot joint torque value as a desired joint torque based on the motion equation after the dynamics parameter switching section switches the dynamics parameters and the time series information about the robot position, the speed information, or the acceleration information acquired by the position information acquiring section. The robot controls an operation of the robot based on an output from the desired torque calculation section.