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:
Sep. 06, 2016
Filed:
Aug. 01, 2013
Toshiba Kikai Kabushiki Kaisha, Chiyoda-ku, Tokyo-to, JP;
TOSHIBA KIKAI KABUSHIKI KAISHA, Tokyo, JP;
Abstract
A robot apparatus () includes a control apparatus () which carries out correction with use of an estimated value of a joint torque estimation unit () which estimates a joint torque acting upon each of joints (to). The joint torque estimation unit () includes a Coulomb frictional force torque estimation unit (), a viscous frictional torque estimation unit (), and a transition interval arithmetic operation unit () which smoothens transition from the Coulomb frictional force torque estimation unit () to the viscous frictional force estimation unit () and transition from the viscous frictional force torque estimation unit () to the Coulomb frictional force torque estimation unit ().