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:
Jan. 03, 2017
Filed:
Mar. 18, 2013
Yusuke Kosaka, Chofu, JP;
Kunihiro Okamoto, Oota-Ku, JP;
Yusuke Kosaka, Chofu, JP;
Kunihiro Okamoto, Oota-Ku, JP;
TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota-Shi, JP;
Abstract
According to a torque detecting method, gravitational torque applied to a rotary shaft of an arm is detected in a condition where position control of the arm is stopped, when the arm is located at a first position at which the arm is oriented in a direction different from a direction of gravitational force. Then, a gravity coefficient used for calculating gravitational torque corresponding to a position of the arm is calculated, based on the gravitational torque and the first position. Then, gravitational torque during position control is calculated, based on the position of the arm detected during the position control, and the gravity coefficient. Further, an actual output torque during the position control is calculated, based on operating torque applied to the rotary shaft and detected during the position control, and the gravitational torque calculated during the position control.