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:
Nov. 01, 2016
Filed:
Jul. 13, 2015
Honda Motor Co., Ltd., Tokyo, JP;
Masao Kanazawa, Saitama, JP;
Tomoki Watabe, Saitama, JP;
Takumi Kamioka, Saitama, JP;
Minami Asatani, Saitama, JP;
HONDA MOTOR CO., LTD., Tokyo, JP;
Abstract
A motion target generating apparatus calculates the time series of motion accelerations of a base bodyand the distal end portion of each of movable linksandof a robotat a plurality of times after a current time such that the value of a predetermined evaluation function is minimized in a range in which a joint motion constraint condition of each of the movable linksandof the robotis satisfied. Based on the calculated values of the motion accelerations at an initial time, new desired motion accelerations of the base bodyand the distal end portion of each of the movable linksandare determined. The desired value for controlling each joint of the robotis determined on the basis of the desired motion accelerations.