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:
Mar. 21, 2017
Filed:
Feb. 14, 2014
Applicant:
Kobe Steel, Ltd., Hyogo, JP;
Inventors:
Yoshiharu Nishida, Kobe, JP;
Takashi Wada, Kobe, JP;
Yoshihide Inoue, Fujisawa, JP;
Shuichi Inada, Fujisawa, JP;
Assignee:
Kobe Steel, Ltd., Hyogo, JP;
Attorney:
Primary Examiner:
Int. Cl.
CPC ...
B25J 9/00 (2006.01); B25J 9/16 (2006.01); B23K 9/095 (2006.01); B23K 9/12 (2006.01); B23K 9/173 (2006.01); B23K 9/32 (2006.01); B23K 37/02 (2006.01); B25J 9/06 (2006.01);
U.S. Cl.
CPC ...
B25J 9/1638 (2013.01); B23K 9/095 (2013.01); B23K 9/124 (2013.01); B23K 9/173 (2013.01); B23K 9/32 (2013.01); B23K 37/0229 (2013.01); B25J 9/06 (2013.01); B25J 9/1605 (2013.01); B25J 9/1633 (2013.01); B25J 9/1641 (2013.01); G05B 2219/34119 (2013.01); G05B 2219/39186 (2013.01); G05B 2219/41222 (2013.01); G05B 2219/41225 (2013.01); G05B 2219/41426 (2013.01); G05B 2219/41436 (2013.01); G05B 2219/45104 (2013.01); G05B 2219/49384 (2013.01); Y10S 901/02 (2013.01);
Abstract
This control device () for compensating for the elastic deformation of an articulated robot is configured from a joint angle command value calculation unit (), an axial force torque calculation unit (), a first dynamic characteristic computing unit (), a feedback control unit (), and a motor angle command value calculation unit (). The first dynamic characteristic computing unit () is configured from an interpolation unit configured from an N-ary curve interpolation, and a filter unit configured from an M-ary filter, with N+M being at least 4.